75 citations · 262 across the 16 of their papers we have counts for
10 papers · 1 filter
SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields
Anthony Simeonov, Yilun Du, Lin Yen-Chen +4
We present a method for performing tasks involving spatial relations between novel object instances initialized in arbitrary poses directly from point cloud observations. Our frame…
Rapid Locomotion via Reinforcement Learning
Gabriel B Margolis, Ge Yang, Kartik Paigwar +2
Agile maneuvers such as sprinting and high-speed turning in the wild are challenging for legged robots. We present an end-to-end learned controller that achieves record agility for…
An Integrated Design Pipeline for Tactile Sensing Robotic Manipulators
Lara Zlokapa, Yiyue Luo, Jie Xu +4
Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend…
Stubborn: A Strong Baseline for Indoor Object Navigation
Haokuan Luo, Albert Yue, Zhang-Wei Hong +1
We present a strong baseline that surpasses the performance of previously published methods on the Habitat Challenge task of navigating to a target object in indoor environments. O…
A System for General In-Hand Object Re-Orientation
Tao Chen, Jie Xu, Pulkit Agrawal
In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the…
Learning to Jump from Pixels
Gabriel B. Margolis, Tao Chen, Kartik Paigwar +4
Today's robotic quadruped systems can robustly walk over a diverse range of rough but continuous terrains, where the terrain elevation varies gradually. Locomotion on discontinuous…