9 citations · 20 across the 12 of their papers we have counts for
8 papers · 1 filter
A Review of Differentiable Simulators
Rhys Newbury, Jack Collins, Kerry He +4
Differentiable simulators continue to push the state of the art across a range of domains including computational physics, robotics, and machine learning. Their main value is the a…
D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation
Jun Yamada, Shaohong Zhong, Jack Collins +1
Mastering dexterous robotic manipulation of deformable objects is vital for overcoming the limitations of parallel grippers in real-world applications. Current trajectory optimisat…
DreamUp3D: Object-Centric Generative Models for Single-View 3D Scene Understanding and Real-to-Sim Transfer
Yizhe Wu, Haitz Sáez de Ocáriz Borde, Jack Collins +2
3D scene understanding for robotic applications exhibits a unique set of requirements including real-time inference, object-centric latent representation learning, accurate 6D pose…
TWIST: Teacher-Student World Model Distillation for Efficient Sim-to-Real Transfer
Jun Yamada, Marc Rigter, Jack Collins +1
Model-based RL is a promising approach for real-world robotics due to its improved sample efficiency and generalization capabilities compared to model-free RL. However, effective m…
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example
Walter Goodwin, Ioannis Havoutis, Ingmar Posner
In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation:…
Efficient Skill Acquisition for Complex Manipulation Tasks in Obstructed Environments
Jun Yamada, Jack Collins, Ingmar Posner
Data efficiency in robotic skill acquisition is crucial for operating robots in varied small-batch assembly settings. To operate in such environments, robots must have robust obsta…