3 citations · 9 across the 7 of their papers we have counts for
7 papers
DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands
Ritvik Singh, Arthur Allshire, Ankur Handa +2
One of the most important, yet challenging, skills for a dexterous robot is grasping a diverse range of objects. Much of the prior work has been limited by speed, generality, or re…
23 DoF Grasping Policies from a Raw Point Cloud
Martin Matak, Karl Van Wyk, Tucker Hermans
Coordinating the motion of robots with high degrees of freedom (DoF) to grasp objects gives rise to many challenges. In this paper, we propose a novel imitation learning approach t…
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries
Bingjie Tang, Iretiayo Akinola, Jie Xu +7
Robotic assembly for high-mixture settings requires adaptivity to diverse parts and poses, which is an open challenge. Meanwhile, in other areas of robotics, large models and sim-t…
Geometric Fabrics: a Safe Guiding Medium for Policy Learning
Karl Van Wyk, Ankur Handa, Viktor Makoviychuk +3
Robotics policies are always subjected to complex, second order dynamics that entangle their actions with resulting states. In reinforcement learning (RL) contexts, policies have t…
cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation
Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman +9
This paper explores the problem of collision-free motion generation for manipulators by formulating it as a global motion optimization problem. We develop a parallel optimization t…
Fabrics: A Foundationally Stable Medium for Encoding Prior Experience
Nathan Ratliff, Karl Van Wyk
Most dynamics functions are not well-aligned to task requirements. Controllers, therefore, often invert the dynamics and reshape it into something more useful. The learning communi…