Haoyu Xiong
@Haoyu_Xiong_ • 4,202 subscribers
PhD student @MIT_CSAIL #Robotics
Videos
Success rate has long been the primary metric for evaluating robot manipulation. What about speed? Today, we introduce ⚡️B-spline Policy (BSP). Instead of predicting discrete fixed-rate action chunks, we parameterize actions as continuous B-spline curves. Together with our system design, BSP enables fast manipulation on low-cost robot arms. This project is co-led by Xiaoshen Han, check out his following threads for more details. 🧵 PS: one of my favorite parts of this project was the first time we saw the robots move significantly faster and smoother than the baselines. The videos below are all real time. 👇
Haoyu Xiong68,281 次观看 • 1 个月前
Your bimanual manipulators might need a Robot Neck 🤖🦒 Introducing Vision in Action: Learning Active Perception from Human Demonstrations ViA learns task-specific, active perceptual strategies—such as searching, tracking, and focusing—directly from human demos, enabling robust visuomotor policies under visual occlusions. 🧵👇
Haoyu Xiong123,380 次观看 • 1 年前
Introducing Open-World Mobile Manipulation 🦾🌍 – A full-stack approach for operating articulated objects in open-ended unstructured environments: Unlocking doors with lever handles/ round knobs/ spring-loaded hinges 🔓🚪 Opening cabinets, drawers, and refrigerators 🗄️ 👇 Led by: @HaoyuXiong1 , Russell Mendonca , Kenny Shaw Deepak Pathak 1/n
Haoyu Xiong169,888 次观看 • 2 年前
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