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Found 13 papers, 5 papers with code
View-Invariant Policy Learning via Zero-Shot Novel View Synthesis
For practical application to diverse robotic data, these models must operate zero-shot, performing view synthesis on unseen tasks and environments.
RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing.
Learning to Design and Use Tools for Robotic Manipulation
A designer policy is conditioned on task information and outputs a tool design that helps solve the task.
Multi-Object Manipulation via Object-Centric Neural Scattering Functions
Learned visual dynamics models have proven effective for robotic manipulation tasks.
A Control-Centric Benchmark for Video Prediction
Video is a promising source of knowledge for embodied agents to learn models of the world's dynamics.
MaskViT: Masked Visual Pre-Training for Video Prediction
This work shows that we can create good video prediction models by pre-training transformers via masked visual modeling.
A Workflow for Offline Model-Free Robotic Reinforcement Learning
To this end, we devise a set of metrics and conditions that can be tracked over the course of offline training, and can inform the practitioner about how the algorithm and model architecture should be adjusted to improve final performance.
Model-Based Visual Planning with Self-Supervised Functional Distances
In our experiments, we find that our method can successfully learn models that perform a variety of tasks at test-time, moving objects amid distractors with a simulated robotic arm and even learning to open and close a drawer using a real-world robot.
DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation
Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics.
OmniTact: A Multi-Directional High Resolution Touch Sensor
We compare with a state-of-the-art tactile sensor that is only sensitive on one side, as well as a state-of-the-art multi-directional tactile sensor, and find that OmniTact's combination of high-resolution and multi-directional sensing is crucial for reliably inserting the electrical connector and allows for higher accuracy in the state estimation task.
Learning Predictive Models From Observation and Interaction
Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.
RoboNet: Large-Scale Multi-Robot Learning
This leads to a frequent tension in robotic learning: how can we learn generalizable robotic controllers without having to collect impractically large amounts of data for each separate experiment?
Manipulation by Feel: Touch-Based Control with Deep Predictive Models
Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging.
