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05/26/2023
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality
Robotic assembly is a longstanding challenge, requiring contact-rich int...
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03/28/2023
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets
Robotic grasping of 3D deformable objects is critical for real-world app...
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10/25/2022
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality
Recent work has demonstrated the ability of deep reinforcement learning ...
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05/07/2022
Factory: Fast Contact for Robotic Assembly
Robotic assembly is one of the oldest and most challenging applications ...
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04/14/2022
Accelerated Policy Learning with Parallel Differentiable Simulation
Deep reinforcement learning can generate complex control policies, but r...
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03/21/2022
DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, inte...
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03/19/2022
DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting
Robotic cutting of soft materials is critical for applications such as f...
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12/09/2021
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations
Sharing autonomy between robots and human operators could facilitate dat...
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07/12/2021
DefGraspSim: Simulation-based grasping of 3D deformable objects
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, inte...
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05/25/2021
DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting
Robotic cutting of soft materials is critical for applications such as f...
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03/31/2021
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections
Tactile sensing is critical for robotic grasping and manipulation of obj...
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11/05/2020
STReSSD: Sim-To-Real from Sound for Stochastic Dynamics
Sound is an information-rich medium that captures dynamic physical event...
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03/18/2020