Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum

no code implementations • 14 Mar 2023 • Yunbo Zhang, Alexander Clegg, Sehoon Ha, Greg Turk, Yuting Ye

In-hand object manipulation is challenging to simulate due to complex contact dynamics, non-repetitive finger gaits, and the need to indirectly control unactuated objects.

Imitation Learning

SoundSpaces 2.0: A Simulation Platform for Visual-Acoustic Learning

2 code implementations • 16 Jun 2022 • Changan Chen, Carl Schissler, Sanchit Garg, Philip Kobernik, Alexander Clegg, Paul Calamia, Dhruv Batra, Philip W Robinson, Kristen Grauman

We introduce SoundSpaces 2. 0, a platform for on-the-fly geometry-based audio rendering for 3D environments.

Automatic Speech Recognition Automatic Speech Recognition (ASR) +2

iSDF: Real-Time Neural Signed Distance Fields for Robot Perception

1 code implementation • 5 Apr 2022 • Joseph Ortiz, Alexander Clegg, Jing Dong, Edgar Sucar, David Novotny, Michael Zollhoefer, Mustafa Mukadam

We present iSDF, a continual learning system for real-time signed distance field (SDF) reconstruction.

Continual Learning Denoising

Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance?

3 code implementations • 13 Dec 2019 • Abhishek Kadian, Joanne Truong, Aaron Gokaslan, Alexander Clegg, Erik Wijmans, Stefan Lee, Manolis Savva, Sonia Chernova, Dhruv Batra

Second, we investigate the sim2real predictivity of Habitat-Sim for PointGoal navigation.

PointGoal Navigation Visual Navigation

Learning to Collaborate from Simulation for Robot-Assisted Dressing

no code implementations • 14 Sep 2019 • Alexander Clegg, Zackory Erickson, Patrick Grady, Greg Turk, Charles C. Kemp, C. Karen Liu

We investigated the application of haptic feedback control and deep reinforcement learning (DRL) to robot-assisted dressing.