157 citations · 613 across the 45 of their papers we have counts for
6 papers · 1 filter
Protective Policy Transfer
Wenhao Yu, C. Karen Liu, Greg Turk
Being able to transfer existing skills to new situations is a key capability when training robots to operate in unpredictable real-world environments. A successful transfer algorit…
Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop
Sebastian Höfer, Kostas Bekris, Ankur Handa +12
This report presents the debates, posters, and discussions of the Sim2Real workshop held in conjunction with the 2020 edition of the "Robotics: Science and System" conference. Twel…
COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing
Zhuo Xu, Wenhao Yu, Alexander Herzog +6
General contact-rich manipulation problems are long-standing challenges in robotics due to the difficulty of understanding complicated contact physics. Deep reinforcement learning…
Learning Human Search Behavior from Egocentric Visual Inputs
Maks Sorokin, Wenhao Yu, Sehoon Ha +1
"Looking for things" is a mundane but critical task we repeatedly carry on in our daily life. We introduce a method to develop a human character capable of searching for a randomly…
Policy Transfer via Kinematic Domain Randomization and Adaptation
Ioannis Exarchos, Yifeng Jiang, Wenhao Yu +1
Transferring reinforcement learning policies trained in physics simulation to the real hardware remains a challenge, known as the "sim-to-real" gap. Domain randomization is a simpl…
Bodies at Rest: 3D Human Pose and Shape Estimation from a Pressure Image using Synthetic Data
Henry M. Clever, Zackory Erickson, Ariel Kapusta +3
People spend a substantial part of their lives at rest in bed. 3D human pose and shape estimation for this activity would have numerous beneficial applications, yet line-of-sight p…