Behavior-1k: A benchmark for embodied ai with 1,000 everyday activities and realistic simulation
We present BEHAVIOR-1K, a comprehensive simulation benchmark for human-centered
robotics. BEHAVIOR-1K includes two components, guided and motivated by the results of an …
robotics. BEHAVIOR-1K includes two components, guided and motivated by the results of an …
Grasp'd: Differentiable contact-rich grasp synthesis for multi-fingered hands
The study of hand-object interaction requires generating viable grasp poses for high-
dimensional multi-finger models, often relying on analytic grasp synthesis which tends to …
dimensional multi-finger models, often relying on analytic grasp synthesis which tends to …
A review of differentiable simulators
Differentiable simulators continue to push the state of the art across a range of domains
including computational physics, robotics, and machine learning. Their main value is the …
including computational physics, robotics, and machine learning. Their main value is the …
Diffskill: Skill abstraction from differentiable physics for deformable object manipulations with tools
We consider the problem of sequential robotic manipulation of deformable objects using
tools. Previous works have shown that differentiable physics simulators provide gradients to …
tools. Previous works have shown that differentiable physics simulators provide gradients to …
Rethinking optimization with differentiable simulation from a global perspective
Differentiable simulation is a promising toolkit for fast gradient-based policy optimization and
system identification. However, existing approaches to differentiable simulation have largely …
system identification. However, existing approaches to differentiable simulation have largely …
Planning with spatial-temporal abstraction from point clouds for deformable object manipulation
Effective planning of long-horizon deformable object manipulation requires suitable
abstractions at both the spatial and temporal levels. Previous methods typically either focus …
abstractions at both the spatial and temporal levels. Previous methods typically either focus …