7 papers
Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields
Zhao-Heng Yin, Pieter Abbeel
Despite years of research, real-time diverse grasp synthesis for dexterous hands remains an unsolved core challenge in robotics and computer graphics. We present Lightning Grasp, a…
From LLMs to Actions: Latent Codes as Bridges in Hierarchical Robot Control
Yide Shentu, Philipp Wu, Aravind Rajeswaran +1
Hierarchical control for robotics has long been plagued by the need to have a well defined interface layer to communicate between high-level task planners and low-level policies. W…
Object-centric 3D Motion Field for Robot Learning from Human Videos
Zhao-Heng Yin, Sherry Yang, Pieter Abbeel
Learning robot control policies from human videos is a promising direction for scaling up robot learning. However, how to extract action knowledge (or action representations) from…
RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulation
Philipp Wu, Yide Shentu, Qiayuan Liao +5
Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demon…
Interactive Task Planning with Language Models
Boyi Li, Philipp Wu, Pieter Abbeel +1
An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional m…
DexterityGen: Foundation Controller for Unprecedented Dexterity
Zhao-Heng Yin, Changhao Wang, Luis Pineda +11
Teaching robots dexterous manipulation skills, such as tool use, presents a significant challenge. Current approaches can be broadly categorized into two strategies: human teleoper…