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09/09/2023
Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact
We present Jade, a differentiable physics engine for articulated rigid b...
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08/19/2023
ClothesNet: An Information-Rich 3D Garment Model Repository with Simulated Clothes Environment
We present ClothesNet: a large-scale dataset of 3D clothes objects with ...
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03/17/2023
DexRepNet: Learning Dexterous Robotic Grasping Network with Geometric and Spatial Hand-Object Representations
Robotic dexterous grasping is a challenging problem due to the high degr...
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12/19/2021
RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation Environment
Part assembly is a typical but challenging task in robotics, where robot...
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11/29/2021
SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning
Building general-purpose robots to perform an enormous amount of tasks i...
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09/18/2021
Learning to Regrasp by Learning to Place
In this paper, we explore whether a robot can learn to regrasp a diverse...
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03/26/2021
OmniHang: Learning to Hang Arbitrary Objects using Contact Point Correspondences and Neural Collision Estimation
In this paper, we explore whether a robot can learn to hang arbitrary ob...
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09/18/2020
GRAC: Self-Guided and Self-Regularized Actor-Critic
Deep reinforcement learning (DRL) algorithms have successfully been demo...
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06/14/2020
Generative 3D Part Assembly via Dynamic Graph Learning
Autonomous part assembly is a challenging yet crucial task in 3D compute...
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04/18/2020
Design and Control of Roller Grasper V2 for In-Hand Manipulation
The ability to perform in-hand manipulation still remains an unsolved pr...
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03/21/2020
Learning 3D Part Assembly from a Single Image
Autonomous assembly is a crucial capability for robots in many applicati...
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11/03/2019
Learning to Scaffold the Development of Robotic Manipulation Skills
Learning contact-rich, robotic manipulation skills is a challenging prob...
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10/24/2019
UniGrasp: Learning a Unified Model to Grasp with N-Fingered Robotic Hands
To achieve a successful grasp, gripper attributes including geometry and...
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09/09/2019
Learning Visual Dynamics Models of Rigid Objects using Relational Inductive Biases
Endowing robots with human-like physical reasoning abilities remains cha...
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07/24/2018
ClusterNet: Instance Segmentation in RGB-D Images
We propose a method for instance-level segmentation that uses RGB-D data...
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04/14/2018
Motion-based Object Segmentation based on Dense RGB-D Scene Flow
Given two consecutive RGB-D images, we propose a model that estimates a ...
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10/17/2017