Search Results for author: Kevin Zakka

Found 3 papers, 3 papers with code

RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learning

1 code implementation • 9 Apr 2023 • Kevin Zakka, Philipp Wu, Laura Smith, Nimrod Gileadi, Taylor Howell, Xue Bin Peng, Sumeet Singh, Yuval Tassa, Pete Florence, Andy Zeng, Pieter Abbeel

Replicating human-like dexterity in robot hands represents one of the largest open problems in robotics.

Benchmarking Multi-Task Learning +2

530

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Code

XIRL: Cross-embodiment Inverse Reinforcement Learning

1 code implementation • 7 Jun 2021 • Kevin Zakka, Andy Zeng, Pete Florence, Jonathan Tompson, Jeannette Bohg, Debidatta Dwibedi

We investigate the visual cross-embodiment imitation setting, in which agents learn policies from videos of other agents (such as humans) demonstrating the same task, but with stark differences in their embodiments -- shape, actions, end-effector dynamics, etc.

reinforcement-learning Reinforcement Learning (RL)

32,792

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Code

Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly

1 code implementation • 30 Oct 2019 • Kevin Zakka, Andy Zeng, Johnny Lee, Shuran Song

This formulation enables the model to acquire a broader understanding of how shapes and surfaces fit together for assembly -- allowing it to generalize to new objects and kits.

Object Pose Estimation

Paper
Code

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