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09/14/2023
Fabrics: A Foundationally Stable Medium for Encoding Prior Experience
Most dynamics functions are not well-aligned to task requirements. Contr...
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10/25/2022
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality
Recent work has demonstrated the ability of deep reinforcement learning ...
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10/24/2022
Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation
Dexterous robotic hands have the capability to interact with a wide vari...
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09/28/2022
DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrations
Teaching a multi-fingered dexterous robot to grasp objects in the real w...
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09/21/2021
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior
Classical mechanical systems are central to controller design in energy ...
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05/07/2021
CoDE: Collocation for Demonstration Encoding
Roboticists frequently turn to Imitation learning (IL) for data efficien...
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04/09/2021
DexYCB: A Benchmark for Capturing Hand Grasping of Objects
We introduce DexYCB, a new dataset for capturing hand grasping of object...
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03/10/2021
RMP2: A Structured Composable Policy Class for Robot Learning
We consider the problem of learning motion policies for acceleration-bas...
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01/14/2021
Interpreting and Predicting Tactile Signals for the SynTouch BioTac
In the human hand, high-density contact information provided by afferent...
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10/28/2020
Geometric Fabrics for the Acceleration-based Design of Robotic Motion
This paper describes the pragmatic design and construction of geometric ...
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10/28/2020
Optimization Fabrics for Behavioral Design
Second-order differential equations define smooth system behavior. In ge...
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10/28/2020
Generalized Nonlinear and Finsler Geometry for Robotics
Robotics research has found numerous important applications of Riemannia...
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08/05/2020
Optimization Fabrics
This paper presents a theory of optimization fabrics, second-order diffe...
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06/06/2020
Interpreting and Predicting Tactile Signals via a Physics-Based and Data-Driven Framework
High-density afferents in the human hand have long been regarded as esse...
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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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08/20/2019
Efficiently Improving and Quantifying Robot Accuracy In Situ
The advancement of simulation-assisted robot programming, automation of ...
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06/27/2018