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SUMMARY:Fall 2023 GRASP SFI: Xiaolong Wang\, University of California San Diego\, "Generalizable Geometric Robot Learning"
DESCRIPTION:This is a hybrid event with in-person attendance in Levine 307 and virtual attendance on Zoom. \nABSTRACT\nRobot learning has witnessed significant progress in terms of generalization recently\, with the help of data-driven learning and image/text foundation models. While these achievements are encouraging\, most tasks conducted in this context are relatively simple (e.g.\, pick-and-place with a parallel gripper). In this talk\, I will talk about our recent efforts to learn generalizable skills focusing on tasks with rich physical contacts and geometric reasoning. Specifically\, I will discuss our research on: (i) the use of a large number of low-cost\, binary force sensors to enable Sim2Real manipulation; (ii) unifying 3D and semantic representation learning to generalize policy learning across diverse objects and scenes. I will showcase the real-world applications of our research\, including dexterous manipulation\, and legged locomotion control\, and language-driven mobile manipulation.
URL:https://seasevents.nmsdev7.com/event/fall-2023-grasp-sfi-xiaolong-wang/
LOCATION:Levine 307\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Seminar
ORGANIZER;CN="General Robotics%2C Automation%2C Sensing and Perception (GRASP) Lab":MAILTO:grasplab@seas.upenn.edu
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