From the 1 of 7 linked papers with an AI index.
4 papers · 1 filter
A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation
Yunhai Feng, Natalie Leung, Jiaxuan Wang +3
The paper introduces REGRIND, a simple pipeline that retargets a single human hand‑object demonstration to a robot hand and uses reinforcement learning to train a residual policy t…
Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
John Z. Zhang, Maks Sorokin, Jan Brüdigam +14
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by perfor…
TransMASK: Masked State Representation through Learned Transformation
Sagar Parekh, Preston Culbertson, Dylan P. Losey
Humans train robots to complete tasks in one environment, and expect robots to perform those same tasks in new environments. As humans, we know which aspects of the environment (i.…
Generative Models From and For Sampling-Based MPC: A Bootstrapped Approach For Adaptive Contact-Rich Manipulation
Lara Brudermüller, Brandon Hung, Xinghao Zhu +4
We present a generative predictive control (GPC) framework that amortizes sampling-based Model Predictive Control (SPC) by bootstrapping it with conditional flow-matching models tr…