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07/20/2023
Reparameterized Policy Learning for Multimodal Trajectory Optimization
We investigate the challenge of parametrizing policies for reinforcement...
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06/06/2023
Deductive Verification of Chain-of-Thought Reasoning
Large Language Models (LLMs) significantly benefit from Chain-of-Thought...
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04/03/2023
Chain-of-Thought Predictive Control
We study generalizable policy learning from demonstrations for complex l...
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03/27/2023
DexDeform: Dexterous Deformable Object Manipulation with Human Demonstrations and Differentiable Physics
In this work, we aim to learn dexterous manipulation of deformable objec...
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03/10/2023
MovingParts: Motion-based 3D Part Discovery in Dynamic Radiance Field
We present MovingParts, a NeRF-based method for dynamic scene reconstruc...
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02/09/2023
ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills
Generalizable manipulation skills, which can be composed to tackle long-...
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10/27/2022
Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation
Effective planning of long-horizon deformable object manipulation requir...
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10/14/2022
Abstract-to-Executable Trajectory Translation for One-Shot Task Generalization
Training long-horizon robotic policies in complex physical environments ...
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05/05/2022
RoboCraft: Learning to See, Simulate, and Shape Elasto-Plastic Objects with Graph Networks
Modeling and manipulating elasto-plastic objects are essential capabilit...
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05/05/2022
Contact Points Discovery for Soft-Body Manipulations with Differentiable Physics
Differentiable physics has recently been shown as a powerful tool for so...
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03/31/2022
DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools
We consider the problem of sequential robotic manipulation of deformable...
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02/24/2022
Learning Multi-Object Dynamics with Compositional Neural Radiance Fields
We present a method to learn compositional predictive models from image ...
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01/28/2022
Close the Visual Domain Gap by Physics-Grounded Active Stereovision Depth Sensor Simulation
In this paper, we focus on the simulation of active stereovision depth s...
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07/30/2021
ManiSkill: Learning-from-Demonstrations Benchmark for Generalizable Manipulation Skills
Learning generalizable manipulation skills is central for robots to achi...
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04/07/2021
PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics
Simulated virtual environments serve as one of the main driving forces b...
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10/26/2020
Towards Scale-Invariant Graph-related Problem Solving by Iterative Homogeneous Graph Neural Networks
Current graph neural networks (GNNs) lack generalizability with respect ...
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02/16/2020
Learning to Group: A Bottom-Up Framework for 3D Part Discovery in Unseen Categories
We address the problem of discovering 3D parts for objects in unseen cat...
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08/15/2019
Mapping State Space using Landmarks for Universal Goal Reaching
An agent that has well understood the environment should be able to appl...
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11/16/2016