Learning Generalizable Tool-use Skills through Trajectory Generation

no code implementations • 29 Sep 2023 • Carl Qi, Yilin Wu, Lifan Yu, Haoyue Liu, Bowen Jiang, Xingyu Lin, David Held

We propose to learn a generative model of the tool-use trajectories as a sequence of tool point clouds, which generalizes to different tool shapes.

Deformable Object Manipulation

Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation

no code implementations • 27 Oct 2022 • Xingyu Lin, Carl Qi, Yunchu Zhang, Zhiao Huang, Katerina Fragkiadaki, Yunzhu Li, Chuang Gan, David Held

Effective planning of long-horizon deformable object manipulation requires suitable abstractions at both the spatial and temporal levels.

Deformable Object Manipulation

Imitating, Fast and Slow: Robust learning from demonstrations via decision-time planning

no code implementations • 7 Apr 2022 • Carl Qi, Pieter Abbeel, Aditya Grover

The goal of imitation learning is to mimic expert behavior from demonstrations, without access to an explicit reward signal.

Imitation Learning reinforcement-learning +2

Robust Imitation via Decision-Time Planning

no code implementations • 1 Jan 2021 • Carl Qi, Pieter Abbeel, Aditya Grover

The goal of imitation learning is to mimic expert behavior from demonstrations, without access to an explicit reward signal.

Imitation Learning reinforcement-learning +2