67 citations · 78 across the 6 of their papers we have counts for
6 papers · 1 filter
BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark
Nikita Chernyadev, Nicholas Backshall, Xiao Ma +3
We introduce BiGym, a new benchmark and learning environment for mobile bi-manual demo-driven robotic manipulation. BiGym features 40 diverse tasks set in home environments, rangin…
Green Screen Augmentation Enables Scene Generalisation in Robotic Manipulation
Eugene Teoh, Sumit Patidar, Xiao Ma +1
Generalising vision-based manipulation policies to novel environments remains a challenging area with limited exploration. Current practices involve collecting data in one location…
Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation
Xiao Ma, Sumit Patidar, Iain Haughton +1
This paper introduces Hierarchical Diffusion Policy (HDP), a hierarchical agent for multi-task robotic manipulation. HDP factorises a manipulation policy into a hierarchical struct…
Language-Conditioned Path Planning
Amber Xie, Youngwoon Lee, Pieter Abbeel +1
Contact is at the core of robotic manipulation. At times, it is desired (e.g. manipulation and grasping), and at times, it is harmful (e.g. when avoiding obstacles). However, tradi…
Multi-View Masked World Models for Visual Robotic Manipulation
Younggyo Seo, Junsu Kim, Stephen James +3
Visual robotic manipulation research and applications often use multiple cameras, or views, to better perceive the world. How else can we utilize the richness of multi-view data? I…
3D Simulation for Robot Arm Control with Deep Q-Learning
Stephen James, Edward Johns
Recent trends in robot arm control have seen a shift towards end-to-end solutions, using deep reinforcement learning to learn a controller directly from raw sensor data, rather tha…