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nd visual dexterity in hand reorientation of novel and complex object shapes tao chen megha tippur siyang wu vikash kumar edward adelson pulkit agrawal science robotics 2023 science robotics paper arxiv project page code bibtex article chen2023visual author tao chen and megha tippur and siyang wu and vikash kumar and edward adelson and pulkit agrawal title visual dexterity in hand reorientation of novel and complex object shapes journal science robotics volume 8 number 84 pages eadc9244 year 2023 doi 10 1126 scirobotics adc9244 url https www science org doi abs 10 1126 scirobotics adc9244 eprint https www science org doi pdf 10 1126 scirobotics adc9244 a real time controller that dynamically reorients complex and novel objects by any amount using a single depth camera reconciling reality through simulation a real to sim to real approach for robust manipulation marcel torne anthony simeonov zechu li april chan tao chen abhishek gupta pulkit agrawal robotics science and systems rss 2024 arxiv project page improve the robustness of imitation learning policies with a real to sim to real approach lifelong robot learning with human assisted language planners meenal parakh alisha fong anthony simeonov tao chen abhishek gupta pulkit agrawal equal contribution international conference on robotics and automation icra 2023 paper project page bibtex article parakh2023human title lifelong robot learning with human assisted language planners author parakh meenal and fong alisha and simeonov anthony and chen tao and gupta abhishek and agrawal pulkit journal arxiv preprint arxiv 2309 14321 year 2023 an llm based task planner that can learn new skills opens doors for continual learning breadcrumbs to the goal goal conditioned exploration from human in the loop feedback marcel torne max balsells zihan wang samedh desai tao chen abhishek gupta advances in neural information processing systems neurips 2023 paper project page code bibtex article torne2023breadcrumbs title breadcrumbs to the goal goal conditioned exploration from human in the loop feedback author torne marcel and balsells max and wang zihan and desai samedh and chen tao and agrawal pulkit and gupta abhishek journal advances in neural information processing systems year 2023 press coverage mit news method for guiding goal directed exploration with asynchronous human feedback a system for general in hand object re orientation tao chen jie xu pulkit agrawal conference on robot learning corl 2021 best paper award paper arxiv bibtex code project page oral talk article chen2021system title a system for general in hand object re orientation author chen tao and xu jie and agrawal pulkit journal conference on robot learning year 2021 press coverage mit news mit csail news azo robotics aihub ai科技评论 tech xplore communications of the acm inceptive mind ieee spectrum the hack posts tectales the robot report a system for general in hand object reorientation parallel q learning scaling off policy reinforcement learning under massively parallel simulation zechu li tao chen zhang wei hong anurag ajay pulkit agrawal indicates equal contribution international conference on machine learning icml 2023 bibtex arxiv code article li2023parallel title parallel q learning scaling off policy reinforcement learning under massively parallel simulation author li zechu and chen tao and hong zhang wei and ajay anurag and agrawal pulkit journal international conference on machine learning year 2023 scale up off policy algorithms with more than 10k parallel environments on a single workstation tactofind a tactile only system for object retrieval sameer pai tao chen megha tippur edward adelson abhishek gupta pulkit agrawal indicates equal contribution indicates equal advising international conference on robotics and automation icra 2023 bibtex project page arxiv article pai2022tactofind title tactofind a tactile only system for object retrieval author pai sameer and chen tao and tippur megha and adelson edward and gupta abhishek and agrawal pulkit journal international conference on robotics and automation year 2023 localize identify and fetch a target object in the dark with tactile sensors dexdeform dexterous deformable object manipulation with human demonstrations and differentiable physics sizhe li zhiao huang tao chen tao du hao su joshua b tenenbaum chuang gan international conference on learning representations iclr 2023 bibtex arxiv code project page article li2023dexdeform title dexdeform dexterous deformable object manipulation with human demonstrations and differentiable physics author li sizhe and huang zhiao and chen tao and du tao and su hao and tenenbaum joshua b and gan chuang journal international conference on learning representations year 2023 dexterous manipulation with deformable objects conceptfusion open set multimodal 3d mapping krishna murthy jatavallabhula alihusein kuwajerwala qiao gu mohd omama tao chen shuang li ganesh iyer soroush saryazdi nikhil keetha ayush tewari joshua b tenenbaum celso miguel de melo madhava krishna liam paull florian shkurti antonio torralba robotics science and systems rss 2023 bibtex arxiv code project page article jatavallabhula2023conceptfusion title conceptfusion open set multimodal 3d mapping author jatavallabhula krishna murthy and kuwajerwala alihusein and gu qiao and omama mohd and chen tao and li shuang and iyer ganesh and saryazdi soroush and keetha nikhil and tewari ayush and tenenbaum joshua b and de melo celso miguel and krishna madhava and paull liam and shkurti florian and torralba antonio journal robotics science and systems year 2023 a scene representation that allows for multi modal language image audio etc and open set queries efficient tactile simulation with differentiability for robotic manipulation jie xu sangwoon kim tao chen alberto rodriguez pulkit agrawal wojciech matusik shinjiro sueda conference on robot learning corl 2022 paper bibtex project page inproceedings xu2022efficient title efficient tactile simulation with differentiability for robotic manipulation author jie xu and sangwoon kim and tao chen and alberto rodriguez garcia and pulkit agrawal and wojciech matusik and shinjiro sueda booktitle 6th annual conference on robot learning year 2022 url https openreview net forum id 6biffcl6gsm tactile simulator for complex shapes training on which transfers to real world rapid locomotion via reinforcement learning gabriel margolis ge yang kartik paigwar tao chen pulkit agrawal robotics science and systems rss 2022 paper project page bibtex video article margolis2022rapid title rapid locomotion via reinforcement learning author margolis gabriel b and yang ge and paigwar kartik and chen tao and agrawal pulkit journal robotics science and systems year 2022 press coverage wired popular science techcrunch bbc mit news high speed running and spinning on diverse terrains with a rl based controller handoversim a simulation framework and benchmark for human to robot object handovers yu wei chao chris paxton yu xiang wei yang balakumar sundaralingam tao chen adithya murali maya cakmak dieter fox international conference on robotics and automation icra 2022 arxiv bibtex project page code article chao2022handoversim title handoversim a simulation framework and benchmark for human to robot object handovers author chao yu wei and paxton chris and xiang yu and yang wei and sundaralingam balakumar and chen tao and murali adithyavairavan and cakmak maya and fox dieter journal international conference on robotics and automation year 2022 1000 handover scenes captured from the real world reproduced in simulation topological experience replay zhang wei hong tao chen yen chen lin joni pajarinen pulkit agrawal international conference on learning representations iclr 2022 paper bibtex video inproceedings hong2022topological title topological experience replay author hong zhang wei and chen tao and lin yen chen and pajarinen joni and agrawal pulkit booktitle in proceedings of the tenth international conference on learning representations year 2022 url https openreview net forum id oxrzemmoi7a a fast q learning method by building a topological graph in the replay buffer learning to jump from pixels gabriel margolis tao chen kartik paigwar xiang fu donghyun kim sangbae kim pulkit agrawal conference on robot learning corl 2021 paper bibtex project page article margolis2021jumping title learning to jump from pixels author margolis gabriel and chen tao and paigwar kartik and fu xiang and kim donghyun and kim sangbae and agrawal pulkit journal conference on robot learning year 2021 press coverage mit news azo robotics the robot report a hierarchical control framework for dynamic vision aware locomotion an end to end differentiable framework for contact aware robot design jie xu tao chen lara zlokapa michael foshey wojciech matusik shinjiro sueda pulkit agrawal robotics science and systems rss 2021 paper arxiv bibtex project page code video talk article xu2021diffsim title an end to end differentiable framework for contact aware robot design author xu jie and chen tao and zlokapa lara and matusik wojciech and sueda shinjiro and agrawal pulkit journal robotics science and systems year 2021 press coverage mit news tectales computational method for design task specific robotic hands residual model learning for microrobot control joshua gruenstein tao chen neel doshi pulkit agrawal ieee international conference on robotics and automation icra 2021 paper bibtex project page video article gruenstein2021residual title residual model learning for microrobot control author gruenstein joshua and chen tao and doshi neel and agrawal pulkit journal international conference on robotics and automation year 2021 a data efficient learning method for controlling microrobots with complex dynamics language inference for reward learning xiang fu tao chen pulkit agrawal tommi s jaakkola neurips biological and artifical rl workshop 2020 paper bibtex inproceedings fu2020language author xiang fu and tao chen and pulkit agrawal and tommi jaakkola title language inference for reward learning booktitle advances in neural information processing systems workshop biological and artificial reinforcement learning year 2020 reward learning by using formal language regular expression to capture the reward structure learning to learn from failures using replay tao chen pulkit agrawal icml big workshop 2020 paper workshop version bibtex project page inproceedings chen2020memory author tao chen and pulkit agrawal title learning to learn from failures using replay booktitle international conference on machine learning workshop inductive biases invariances and generalization in rl year 2020 remembering failures aids faster learning by preventing the agent to oscillate between mistakes pyrobot an open source robotics framework for research and benchmarking adithya murali tao chen kalyan vasudev alwala dhiraj gandhi lerrel pinto saurabh gupta abhinav gupta equal contribution paper bibtex project page code github star facebook ai blog article pyrobot2019 author adithyavairavan murali and tao chen and kalyan vasudev alwala and dhiraj gandhi and lerrel pinto and saurabh gupta and abhinav gupta title pyrobot an open source robotics framework for research and benchmarking journal corr volume abs 1906 08236 year 2019 url https arxiv org abs 1906 08236 archiveprefix arxiv eprint 1906 08236 press coverage wired venturebeat the robot report siliconangle ib times sd times medium an easy to use python interface for robot learning and a low cost robot learning platform learning exploration policies for navigation tao chen saurabh gupta abhinav gupta international conference on learning representations iclr 2019 paper bibtex project page video code poster inproceedings chen2018learning author chen tao and gupta saurabh and gupta abhinav title learning exploration policies for navigation booktitle international conference on learning representations year 2019 url https openreview net forum id symwn05f7 a framework for learning to explore novel environments with on board sensors in the testing time hardware conditioned policies for multi robot transfer learning tao chen adithya murali abhinav gupta advances in neural information processing systems neurips 2018 paper bibtex project page video code poster inproceedings chen2018hardware title hardware conditioned policies for multi robot transfer learning author chen tao and murali adithyavairavan and gupta abhinav booktitle advances in neural information processing systems pages 9355 9366 year 2018 one policy to control many robots that are kinematically and dynamically different development of a soft elastomeric gripper for dexterous grasping tao chen guo ying gu bachelor s thesis 2016 awarded 2016 excellent bachelor thesis top 1 of shanghai jiao tong university project page a four fingered soft gripper with multi cavity pneumatic elastomer actuators mcpea for grasping objects with different sizes shapes fragility work experience autonomous exploration for dense map construction tao chen shanghai lx robotics 2017 a key step for robots to get popularized into our daily life is that robots should be able to automatically explore the new environment when they are deployed in new houses or buildings in this project i combine the strength of motion planning ompl and sbpl frontier based exploration slam orb slam2 and object recognition and segmentation fcis techniques to build an automatic mapping system that can autonomously explore the new houses recognize daily objects and remember their locations while keep building the dense map as it moves after the map is built the robot can be asked to find and move to the objects it has seen like cup monitor autonomously teaching mit 6 884 computational sensorimotor learning spring 2021 teaching assistant ta mit 6 s090 deep learning for control iap 2021 instructor cmu 16 824 visual learning and recognition spring 2019 teaching assistant ta course projects robot construction via planning and learning tao chen xianyi cheng learning for manipulation 2018 instructor oliver kroemer video1 video2 video3 code report we combined the symbolic planning and supervised learning to efficiently learn to move a set of blocks from an initial configuration to a goal configuration a k a robot construction problem the symbolic planning module plans the sequence actions path to move the blocks a block or a sub assembly to reach the goal configurations the supervised learning module stability checker predicts whether the state rgb image is stable or not so that the planning module only plans with the actions that lead to stable states we used domain randomization techniques to generate more diversified visual data to make the stability checker more robust these two modules combined lead to an effective way to solve the robot construction problem design and manufacturing of a tennis ball collecting robot tao chen matthew stouder zhedong han ...
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