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08/31/2023
Diffusion Inertial Poser: Human Motion Reconstruction from Arbitrary Sparse IMU Configurations
Motion capture from a limited number of inertial measurement units (IMUs...
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06/15/2023
Hierarchical Planning and Control for Box Loco-Manipulation
Humans perform everyday tasks using a combination of locomotion and mani...
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05/08/2023
Anatomically Detailed Simulation of Human Torso
Existing digital human models approximate the human skeletal system usin...
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05/08/2023
Synthesize Dexterous Nonprehensile Pregrasp for Ungraspable Objects
Daily objects embedded in a contextual environment are often ungraspable...
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03/23/2023
On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning
As robots become more prevalent, optimizing their design for better perf...
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12/28/2022
NeMo: 3D Neural Motion Fields from Multiple Video Instances of the Same Action
The task of reconstructing 3D human motion has wideranging applications....
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11/19/2022
EDGE: Editable Dance Generation From Music
Dance is an important human art form, but creating new dances can be dif...
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09/23/2022
Trajectory and Sway Prediction Towards Fall Prevention
Falls are the leading cause of fatal and non-fatal injuries particularly...
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07/01/2022
Learning Diverse and Physically Feasible Dexterous Grasps with Generative Model and Bilevel Optimization
To fully utilize the versatility of a multi-finger dexterous robotic han...
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03/29/2022
Transformer Inertial Poser: Attention-based Real-time Human Motion Reconstruction from Sparse IMUs
Real-time human motion reconstruction from a sparse set of wearable IMUs...
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03/07/2022
A Survey on Reinforcement Learning Methods in Character Animation
Reinforcement Learning is an area of Machine Learning focused on how age...
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02/20/2022
Real-time Model Predictive Control and System Identification Using Differentiable Physics Simulation
Developing robot controllers in a simulated environment is advantageous ...
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09/12/2021
Learning to Navigate Sidewalks in Outdoor Environments
Outdoor navigation on sidewalks in urban environments is the key technol...
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08/28/2021
DASH: Modularized Human Manipulation Simulation with Vision and Language for Embodied AI
Creating virtual humans with embodied, human-like perceptual and actuati...
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08/06/2021
BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments
We introduce BEHAVIOR, a benchmark for embodied AI with 100 activities i...
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08/06/2021
iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks
Recent research in embodied AI has been boosted by the use of simulation...
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07/27/2021
DCL: Differential Contrastive Learning for Geometry-Aware Depth Synthesis
We describe a method for realistic depth synthesis that learns diverse v...
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05/25/2021
Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction
Towards the goal of robots performing robust and intelligent physical in...
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03/30/2021
Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact
We present a fast and feature-complete differentiable physics engine tha...
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03/13/2021
Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments
Simulation provides a safe and efficient way to generate useful data for...
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03/08/2021
Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints
Soft robot serial chain manipulators with the capability for growth, sti...
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03/03/2021
Learning to Manipulate Amorphous Materials
We present a method of training character manipulation of amorphous mate...
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01/15/2021
SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning
As learning-based approaches progress towards automating robot controlle...
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12/11/2020
Protective Policy Transfer
Being able to transfer existing skills to new situations is a key capabi...
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12/07/2020
Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop
This report presents the debates, posters, and discussions of the Sim2Re...
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11/23/2020
COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing
General contact-rich manipulation problems are long-standing challenges ...
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11/06/2020
Learning Human Search Behavior from Egocentric Visual Inputs
"Looking for things" is a mundane but critical task we repeatedly carry ...
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11/03/2020
Policy Transfer via Kinematic Domain Randomization and Adaptation
Transferring reinforcement learning policies trained in physics simulati...
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09/22/2020
Learning Task-Agnostic Action Spaces for Movement Optimization
We propose a novel method for exploring the dynamics of physically based...
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04/02/2020
Bodies at Rest: 3D Human Pose and Shape Estimation from a Pressure Image using Synthetic Data
People spend a substantial part of their lives at rest in bed. 3D human ...
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10/10/2019
Assistive Gym: A Physics Simulation Framework for Assistive Robotics
Autonomous robots have the potential to serve as versatile caregivers th...
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09/23/2019
Learning a Control Policy for Fall Prevention on an Assistive Walking Device
Fall prevention is one of the most important components in senior care. ...
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09/14/2019
Modeling Collaboration for Robot-assisted Dressing Tasks
We investigated the application of haptic aware feedback control and dee...
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07/09/2019
Estimating Mass Distribution of Articulated Objects through Physical Interaction
We explore the problem of estimating the mass distribution of an articul...
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04/30/2019
Synthesis of Biologically Realistic Human Motion Using Joint Torque Actuation
Using joint actuators to drive the skeletal movements is a common practi...
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04/03/2019
Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing
Robotic assistance presents an opportunity to benefit the lives of many ...
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03/04/2019
Sim-to-Real Transfer for Biped Locomotion
We present a new approach for transfer of dynamic robot control policies...
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10/12/2018
Policy Transfer with Strategy Optimization
Computer simulation provides an automatic and safe way for training robo...
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03/11/2018
Data-Augmented Contact Model for Rigid Body Simulation
Accurately modeling contact behaviors for real-world, near-rigid materia...
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01/24/2018
Learning Symmetric and Low-energy Locomotion
Learning locomotion skills is a challenging problem. To generate realist...
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01/24/2018
Learning Symmetry and Low-energy Locomotion
Learning locomotion skills is a challenging problem. To generate realist...
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09/27/2017
Deep Haptic Model Predictive Control for Robot-Assisted Dressing
Robot-assisted dressing offers an opportunity to benefit the lives of ma...
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09/23/2017