337 citations · 549 across the 23 of their papers we have counts for
35 papers
Cloth Funnels: Canonicalized-Alignment for Multi-Purpose Garment Manipulation
Alper Canberk, Cheng Chi, Huy Ha +4
Automating garment manipulation is challenging due to extremely high variability in object configurations. To reduce this intrinsic variation, we introduce the task of "canonicaliz…
ASPiRe:Adaptive Skill Priors for Reinforcement Learning
Mengda Xu, Manuela Veloso, Shuran Song
We introduce ASPiRe (Adaptive Skill Prior for RL), a new approach that leverages prior experience to accelerate reinforcement learning. Unlike existing methods that learn a single…
Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wild
Jiayi Chen, Mi Yan, Jiazhao Zhang +6
In this work, we tackle the challenging task of jointly tracking hand object pose and reconstructing their shapes from depth point cloud sequences in the wild, given the initial po…
DextAIRity: Deformable Manipulation Can be a Breeze
Zhenjia Xu, Cheng Chi, Benjamin Burchfiel +3
This paper introduces DextAIRity, an approach to manipulate deformable objects using active airflow. In contrast to conventional contact-based quasi-static manipulations, DextAIRit…
Iterative Residual Policy: for Goal-Conditioned Dynamic Manipulation of Deformable Objects
Cheng Chi, Benjamin Burchfiel, Eric Cousineau +2
This paper tackles the task of goal-conditioned dynamic manipulation of deformable objects. This task is highly challenging due to its complex dynamics (introduced by object deform…
Continuous Scene Representations for Embodied AI
Samir Yitzhak Gadre, Kiana Ehsani, Shuran Song +1
We propose Continuous Scene Representations (CSR), a scene representation constructed by an embodied agent navigating within a space, where objects and their relationships are mode…