Geometric Fabrics: a Safe Guiding Medium for Policy Learning

Geometric Fabrics: a Safe Guiding Medium for Policy Learning

3 May 2024

Viktor Makoviychuk

Arthur Allshire

Nathan D. Ratliff

Papers citing "Geometric Fabrics: a Safe Guiding Medium for Policy Learning"

8 / 8 papers shown

Title
TamedPUMA: safe and stable imitation learning with geometric fabrics Saray Bakker Rodrigo Pérez-Dattari Cosimo Della Santina Wendelin Böhmer Javier Alonso-Mora 51 0 0 21 Mar 2025
DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands Ritvik Singh Arthur Allshire Ankur Handa Nathan D. Ratliff Karl Van Wyk 72 8 0 27 Nov 2024
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics Tyler Ga Wei Lum Martin Matak Viktor Makoviychuk Ankur Handa Arthur Allshire Tucker Hermans Nathan D. Ratliff Karl Van Wyk 27 13 0 02 Jul 2024
KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation Hongyi Chen Abulikemu Abuduweili Aviral Agrawal Yunhai Han H. Ravichandar Changliu Liu Jeffrey Ichnowski 21 5 0 29 Jun 2024
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills Yunhai Han Mandy Xie Ye Zhao H. Ravichandar 24 17 0 23 Mar 2023
Rotating without Seeing: Towards In-hand Dexterity through Touch Zhao-Heng Yin Binghao Huang Yuzhe Qin Qifeng Chen Xiaolong Wang 96 91 0 20 Mar 2023
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior Karl Van Wyk Mandy Xie Anqi Li M. A. Rana Buck Babich ... Iretiayo Akinola Balakumar Sundaralingam D. Fox Byron Boots Nathan D. Ratliff AI4CE 82 36 0 21 Sep 2021
What Matters in Learning from Offline Human Demonstrations for Robot Manipulation Ajay Mandlekar Danfei Xu J. Wong Soroush Nasiriany Chen Wang Rohun Kulkarni Li Fei-Fei Silvio Savarese Yuke Zhu Roberto Martín-Martín OffRL 147 469 0 06 Aug 2021