3 citations · 7 across the 5 of their papers we have counts for
5 papers
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…
Multi-Fingered Robotic Grasping: A Primer
Stefano Carpin, Shuo Liu, Joe Falco +1
This technical report presents an introduction to different aspects of multi-fingered robot grasping. After having introduced relevant mathematical background for modeling, form an…