no code implementations • 20 Mar 2024 • Qiaojun Yu, Ce Hao, JunBo Wang, Wenhai Liu, Liu Liu, Yao Mu, Yang You, Hengxu Yan, Cewu Lu
Robotic manipulation in everyday scenarios, especially in unstructured environments, requires skills in pose-aware object manipulation (POM), which adapts robots' grasping and handling according to an object's 6D pose.
no code implementations • 22 Feb 2024 • Catherine Weaver, Chen Tang, Ce Hao, Kenta Kawamoto, Masayoshi Tomizuka, Wei Zhan
Thus, we propose BeTAIL: Behavior Transformer Adversarial Imitation Learning, which combines a Behavior Transformer (BeT) policy from human demonstrations with online AIL.
1 code implementation • 28 Sep 2023 • Qiaojun Yu, JunBo Wang, Wenhai Liu, Ce Hao, Liu Liu, Lin Shao, Weiming Wang, Cewu Lu
Results show that GAMMA significantly outperforms SOTA articulation modeling and manipulation algorithms in unseen and cross-category articulated objects.
no code implementations • 14 Jun 2023 • Ce Hao, Catherine Weaver, Chen Tang, Kenta Kawamoto, Masayoshi Tomizuka, Wei Zhan
Hierarchical reinforcement learning (RL) can accelerate long-horizon decision-making by temporally abstracting a policy into multiple levels.