4 papers
Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation
Albert Wu, Riccardo Bonalli, Thomas Lew +1
Robotic dexterous manipulation requires continuously reconciling objectives and constraints defined on heterogeneous geometric spaces: a robot controlled on a config…
CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
Sirui Chen, Zi-ang Cao, Zhengyi Luo +7
Recent progress in humanoid robots has unlocked agile locomotion skills, including backflipping, running, and crawling. Yet it remains challenging for a humanoid robot to perform f…
Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching
Sirui Chen, Yufei Ye, Zi-Ang Cao +3
We propose Hand-Eye Autonomous Delivery (HEAD), a framework that learns navigation, locomotion, and reaching skills for humanoids, directly from human motion and vision perception…
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…