327 citations · 1.3k across the 66 of their papers we have counts for
4 papers · 1 filter
OpenVLA: An Open-Source Vision-Language-Action Model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti +15
Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rath…
Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation
Lujie Yang, Hongkai Dai, Zhouxing Shi +3
Learning-based neural network (NN) control policies have shown impressive empirical performance in a wide range of tasks in robotics and control. However, formal (Lyapunov) stabili…
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
Cheng Chi, Zhenjia Xu, Chuer Pan +5
We present Universal Manipulation Interface (UMI) -- a data collection and policy learning framework that allows direct skill transfer from in-the-wild human demonstrations to depl…
Towards Tight Convex Relaxations for Contact-Rich Manipulation
Bernhard Paus Graesdal, Shao Yuan Chew Chia, Tobia Marcucci +4
We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such t…