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05/09/2023
TidyBot: Personalized Robot Assistance with Large Language Models
For a robot to personalize physical assistance effectively, it must lear...
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11/04/2022
Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation
When humans perform contact-rich manipulation tasks, customized tools ar...
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10/24/2022
Task-Driven In-Hand Manipulation of Unknown Objects with Tactile Sensing
Manipulation of objects in-hand without an object model is a foundationa...
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06/28/2022
Rethinking Optimization with Differentiable Simulation from a Global Perspective
Differentiable simulation is a promising toolkit for fast gradient-based...
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04/07/2022
DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects
Research in manipulation of deformable objects is typically conducted on...
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12/09/2021
A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation
Deformable object manipulation remains a challenging task in robotics re...
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09/28/2021
Learning Periodic Tasks from Human Demonstrations
We develop a method for learning periodic tasks from visual demonstratio...
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07/09/2021
BayesSimIG: Scalable Parameter Inference for Adaptive Domain Randomization with IsaacGym
BayesSim is a statistical technique for domain randomization in reinforc...
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11/23/2020
Sequential Topological Representations for Predictive Models of Deformable Objects
Deformable objects present a formidable challenge for robotic manipulati...
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06/15/2020
Analytic Manifold Learning: Unifying and Evaluating Representations for Continuous Control
We address the problem of learning reusable state representations from s...
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07/10/2019
Bayesian Optimization in Variational Latent Spaces with Dynamic Compression
Data-efficiency is crucial for autonomous robots to adapt to new tasks a...
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10/10/2018
Global Search with Bernoulli Alternation Kernel for Task-oriented Grasping Informed by Simulation
We develop an approach that benefits from large simulated datasets and t...
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05/07/2018