3 papers
cs.RO2024
ARCap: Collecting High-quality Human Demonstrations for Robot Learning with Augmented Reality Feedback
Sirui Chen, Chen Wang, Kaden Nguyen +2
Recent progress in imitation learning from human demonstrations has shown promising results in teaching robots manipulation skills. To further scale up training datasets, recent wo…
cs.RO2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
Wenlong Huang, Chen Wang, Yunzhu Li +2
Representing robotic manipulation tasks as constraints that associate the robot and the environment is a promising way to encode desired robot behaviors. However, it remains unclea…
cs.RO2024
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction
Yunfan Jiang, Chen Wang, Ruohan Zhang +2
Learning in simulation and transferring the learned policy to the real world has the potential to enable generalist robots. The key challenge of this approach is to address simulat…