254 citations · 1.4k across the 100 of their papers we have counts for
9 papers · 1 filter
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation
Dylan Turpin, Tao Zhong, Shutong Zhang +8
Multi-finger grasping relies on high quality training data, which is hard to obtain: human data is hard to transfer and synthetic data relies on simplifying assumptions that reduce…
Self-Supervised Learning of Action Affordances as Interaction Modes
Liquan Wang, Nikita Dvornik, Rafael Dubeau +2
When humans perform a task with an articulated object, they interact with the object only in a handful of ways, while the space of all possible interactions is nearly endless. This…
SlotDiffusion: Object-Centric Generative Modeling with Diffusion Models
Ziyi Wu, Jingyu Hu, Wuyue Lu +2
Object-centric learning aims to represent visual data with a set of object entities (a.k.a. slots), providing structured representations that enable systematic generalization. Leve…
Learning Achievement Structure for Structured Exploration in Domains with Sparse Reward
Zihan Zhou, Animesh Garg
We propose Structured Exploration with Achievements (SEA), a multi-stage reinforcement learning algorithm designed for achievement-based environments, a particular type of environm…
StepFormer: Self-supervised Step Discovery and Localization in Instructional Videos
Nikita Dvornik, Isma Hadji, Ran Zhang +4
Instructional videos are an important resource to learn procedural tasks from human demonstrations. However, the instruction steps in such videos are typically short and sparse, wi…
Errors are Useful Prompts: Instruction Guided Task Programming with Verifier-Assisted Iterative Prompting
Marta Skreta, Naruki Yoshikawa, Sebastian Arellano-Rubach +6
Generating low-level robot task plans from high-level natural language instructions remains a challenging problem. Although large language models have shown promising results in ge…
-Patching: A Framework for Rapid Adaptation of Pre-trained Convolutional Networks without Base Performance Loss
Chaitanya Devaguptapu, Samarth Sinha, K J Joseph +2
Models pre-trained on large-scale datasets are often fine-tuned to support newer tasks and datasets that arrive over time. This process necessitates storing copies of the model ove…
MVTrans: Multi-View Perception of Transparent Objects
Yi Ru Wang, Yuchi Zhao, Haoping Xu +4
Transparent object perception is a crucial skill for applications such as robot manipulation in household and laboratory settings. Existing methods utilize RGB-D or stereo inputs t…
Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments
Mayank Mittal, Calvin Yu, Qinxi Yu +12
We present Orbit, a unified and modular framework for robot learning powered by NVIDIA Isaac Sim. It offers a modular design to easily and efficiently create robotic environments w…