Search Results for author: Lirui Wang

Found 6 papers, 4 papers with code

NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis

no code implementations CVPR 2023 Allan Zhou, Moo Jin Kim, Lirui Wang, Pete Florence, Chelsea Finn

Expert demonstrations are a rich source of supervision for training visual robotic manipulation policies, but imitation learning methods often require either a large number of demonstrations or expensive online expert supervision to learn reactive closed-loop behaviors.

Data Augmentation Imitation Learning +2

Does Learning from Decentralized Non-IID Unlabeled Data Benefit from Self Supervision?

1 code implementation20 Oct 2022 Lirui Wang, Kaiqing Zhang, Yunzhu Li, Yonglong Tian, Russ Tedrake

Decentralized learning has been advocated and widely deployed to make efficient use of distributed datasets, with an extensive focus on supervised learning (SL) problems.

Contrastive Learning Representation Learning +1

Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds

1 code implementation2 Oct 2020 Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian, Dieter Fox

We demonstrate that our learned policy can be integrated into a tabletop 6D grasping system and a human-robot handover system to improve the grasping performance of unseen objects.

Imitation Learning Motion Planning +2

Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection

1 code implementation22 Nov 2019 Lirui Wang, Yu Xiang, Dieter Fox

In robot manipulation, planning the motion of a robot manipulator to grasp an object is a fundamental problem.


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