PhyGrasp: Generalizing Robotic Grasping with Physics-informed Large Multimodal Models

no code implementations • 26 Feb 2024 • Dingkun Guo, Yuqi Xiang, Shuqi Zhao, Xinghao Zhu, Masayoshi Tomizuka, Mingyu Ding, Wei Zhan

With these two capabilities, PhyGrasp is able to accurately assess the physical properties of object parts and determine optimal grasping poses.

Object Physical Commonsense Reasoning +1

Diff-Transfer: Model-based Robotic Manipulation Skill Transfer via Differentiable Physics Simulation

no code implementations • 7 Oct 2023 • Yuqi Xiang, Feitong Chen, Qinsi Wang, Yang Gang, Xiang Zhang, Xinghao Zhu, Xingyu Liu, Lin Shao

In this work, we introduce $\textit{Diff-Transfer}$, a novel framework leveraging differentiable physics simulation to efficiently transfer robotic skills.

Q-Learning