940 citations · 2.5k across the 35 of their papers we have counts for
8 papers · 1 filter
MOMA-Force: Visual-Force Imitation for Real-World Mobile Manipulation
Taozheng Yang, Ya Jing, Hongtao Wu +5
In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate ac…
Exploring Visual Pre-training for Robot Manipulation: Datasets, Models and Methods
Ya Jing, Xuelin Zhu, Xingbin Liu +4
Visual pre-training with large-scale real-world data has made great progress in recent years, showing great potential in robot learning with pixel observations. However, the recipe…
Learning to Explore Informative Trajectories and Samples for Embodied Perception
Ya Jing, Tao Kong
We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to…
3D Part Assembly Generation with Instance Encoded Transformer
Rufeng Zhang, Tao Kong, Weihao Wang +2
It is desirable to enable robots capable of automatic assembly. Structural understanding of object parts plays a crucial role in this task yet remains relatively unexplored. In thi…
Learning Design and Construction with Varying-Sized Materials via Prioritized Memory Resets
Yunfei Li, Tao Kong, Lei Li +1
Can a robot autonomously learn to design and construct a bridge from varying-sized blocks without a blueprint? It is a challenging task with long horizon and sparse reward -- the r…
Navigating to Objects in Unseen Environments by Distance Prediction
Minzhao Zhu, Binglei Zhao, Tao Kong
Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predictin…
Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimation
Yiming Li, Tao Kong, Ruihang Chu +3
Grasping in cluttered scenes has always been a great challenge for robots, due to the requirement of the ability to well understand the scene and object information. Previous works…
Learning to Design and Construct Bridge without Blueprint
Yunfei Li, Tao Kong, Lei Li +2
Autonomous assembly has been a desired functionality of many intelligent robot systems. We study a new challenging assembly task, designing and constructing a bridge without a blue…