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09/16/2022
Code as Policies: Language Model Programs for Embodied Control
Large language models (LLMs) trained on code completion have been shown ...
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07/12/2022
Inner Monologue: Embodied Reasoning through Planning with Language Models
Recent works have shown how the reasoning capabilities of Large Language...
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06/25/2022
Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation
Robots need to manipulate objects in constrained environments like shelv...
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09/17/2021
Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation
Lifelong-learning robots need to be able to acquire new skills and plan ...
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12/01/2020
Visual Identification of Articulated Object Parts
As autonomous robots interact and navigate around real-world environment...
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11/09/2020
Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation
Manipulation tasks can often be decomposed into multiple subtasks perfor...
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11/05/2020
Contact Localization for Robot Arms in Motion without Torque Sensing
Detecting and localizing contacts is essential for robot manipulators to...
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11/04/2020
A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy
We designed a modular robotic control stack that provides a customizable...
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06/02/2020
Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap
Training robotic policies in simulation suffers from the sim-to-real gap...
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02/27/2020
In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation
Tracking the pose of an object while it is being held and manipulated by...
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10/07/2019
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
Teleoperation offers the possibility of imparting robotic systems with s...
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09/04/2019
Towards Precise Robotic Grasping by Probabilistic Post-grasp Displacement Estimation
Precise robotic grasping is important for many industrial applications, ...
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10/12/2018