356 citations · 1.9k across the 37 of their papers we have counts for
5 papers · 1 filter
Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations
Shuran Song, Andy Zeng, Johnny Lee +1
Intelligent manipulation benefits from the capacity to flexibly control an end-effector with high degrees of freedom (DoF) and dynamically react to the environment. However, due to…
ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation
Shreeyak S. Sajjan, Matthew Moore, Mike Pan +4
Transparent objects are a common part of everyday life, yet they possess unique visual properties that make them incredibly difficult for standard 3D sensors to produce accurate de…
Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly
Kevin Zakka, Andy Zeng, Johnny Lee +1
Is it possible to learn policies for robotic assembly that can generalize to new objects? We explore this idea in the context of the kit assembly task. Since classic methods rely h…
DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic Interactions
Zhenjia Xu, Jiajun Wu, Andy Zeng +2
We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also chall…
TossingBot: Learning to Throw Arbitrary Objects with Residual Physics
Andy Zeng, Shuran Song, Johnny Lee +2
We investigate whether a robot arm can learn to pick and throw arbitrary objects into selected boxes quickly and accurately. Throwing has the potential to increase the physical rea…