2 citations · 2 across the 3 of their papers we have counts for
4 papers
SUAVE: Unified Video-Action Models via Masked Diffusion
Rhythm Syed, Jean Mercat, Sedrick Keh +5
Vision-language-action models (VLAs) inherit strong semantic grounding from pretrained vision-language backbones but are typically optimized for predicting actions rather than futu…
Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry
Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan +1
Contact-implicit trajectory optimization (CITO) is an effective method to plan complex trajectories for various contact-rich systems including manipulation and locomotion. CITO for…
Plan-Guided Reinforcement Learning for Whole-Body Manipulation
Mengchao Zhang, Jose Barreiros, Aykut Ozgun Onol
Synthesizing complex whole-body manipulation behaviors has fundamental challenges due to the rapidly growing combinatorics inherent to contact interaction planning. While model-bas…
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning
Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan +1
Complex dexterous manipulations require switching between prehensile and non-prehensile grasps, and sliding and pivoting the object against the environment. This paper presents a m…