9 papers
Turning Video Models into Generalist Robot Policies
Sizhe Lester Li, Evan Kim, Xingjian Bai +4
Video generative models have emerged as a promising robotics backbone, capable of generating videos that depict the completion of complex tasks across embodiments and environments.…
PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
Jiarong Kang, Kunzhao Ren, Tao Pang +1
Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamic…
Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
John Z. Zhang, Maks Sorokin, Jan Brüdigam +14
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by perfor…
Approximately Optimal Global Planning for Contact-Rich SE(2) Manipulation on a Graph of Reachable Sets
Simin Liu, Tong Zhao, Bernhard Paus Graesdal +5
If we consider human manipulation, it is clear that contact-rich manipulation (CRM)-the ability to use any surface of the manipulator to make contact with objects-can be far more e…
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
Lujie Yang, H. J. Terry Suh, Tong Zhao +5
We present a low-cost data generation pipeline that integrates physics-based simulation, human demonstrations, and model-based planning to efficiently generate large-scale, high-qu…
Dexterous Contact-Rich Manipulation via the Contact Trust Region
H. J. Terry Suh, Tao Pang, Tong Zhao +1
What is a good local description of contact dynamics for contact-rich manipulation, and where can we trust this local description? While many approaches often rely on the Taylor ap…