4 papers
VIGOR: Visual Goal-In-Context Inference for Unified Humanoid Fall Safety
Osher Azulay, Zhengjie Xu, Andrew Scheffer +1
Reliable fall recovery is critical for humanoids operating in cluttered environments. Unlike quadrupeds or wheeled robots, humanoids experience high-energy impacts, complex whole-b…
Visuotactile-Based Learning for Insertion with Compliant Hands
Osher Azulay, Dhruv Metha Ramesh, Nimrod Curtis +1
Compared to rigid hands, underactuated compliant hands offer greater adaptability to object shapes, provide stable grasps, and are often more cost-effective. However, they introduc…
Embodiment-Agnostic Navigation Policy Trained with Visual Demonstrations
Nimrod Curtis, Osher Azulay, Avishai Sintov
Learning to navigate in unstructured environments is a challenging task for robots. While reinforcement learning can be effective, it often requires extensive data collection and c…
Survey of Learning-based Approaches for Robotic In-Hand Manipulation
Abraham Itzhak Weinberg, Alon Shirizly, Osher Azulay +1
Human dexterity is an invaluable capability for precise manipulation of objects in complex tasks. The capability of robots to similarly grasp and perform in-hand manipulation of ob…