Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics

Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, +5

Code as Policies: Language Model Programs for Embodied Control

Jacky Liang, Wenlong Huang, Fei Xia, +5

Artificial IntelligenceLanguage PolicyEngineeringEmbodied ControlAutonomous Systems +16

Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics

Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, +5

arXiv (Cornell University)

Artificial IntelligenceAnalytic Grasp MetricsGeometric LearningConvolutional Neural NetworkEngineering +19

Inner Monologue: Embodied Reasoning through Planning with Language Models

Wenlong Huang, Fei Xia, Ted Xiao, +14

arXiv (Cornell University)

Artificial IntelligenceLanguage GroundingEngineeringEnvironment FeedbackPsycholinguistics +20

DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System

Ankur Handa, Karl Van Wyk, Wei Yang, +6

Robotic SystemsEngineeringDexterous ManipulationTeleoperationIntelligent Robotics +18

Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration⁰

A. O'Neill, Abdul Rehman, Abhiram Maddukuri, +275

Design of parallel-jaw gripper tip surfaces for robust grasping

Menglong Guo, David V. Gealy, Jacky Liang, +5

EngineeringSoft RoboticsDexterous ManipulationMechanical EngineeringMechatronics +13

Code as Policies: Language Model Programs for Embodied Control

Jacky Liang, Wenlong Huang, Fei Xia, +5

arXiv (Cornell University)

In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation

Jacky Liang, Ankur Handa, Karl Van Wyk, +3

EngineeringHuman Pose EstimationDexterous Manipulation3D Pose EstimationField Robotics +19

A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy

Kevin Zhang, Mohit Sharma, Jacky Liang, +1

arXiv (Cornell University)

Artificial IntelligenceRobot KinematicsHuman-robot Collaborative AssemblyRobotic SystemsEngineering +20