Helping Hands Lab @ Northeastern

#CoRL2024 IMAGINATION POLICY: Using Generative Point Cloud Models for Learning Manipulation Policies Led by @HaojieHuang13. A key-frame multi-task policy can generate key poses (imagine) and do manipulation precisely with sample efficiency. Presenting at Poster Session 4.

#CoRL2024 ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter by @RubyFreax. A plug-and-play vision-language grasping system that uses GPT-4o’s advanced contextual reasoning for heavy clutter environment grasping strategies. Presenting at Poster Session 3.

#CoRL2024 Equivariant Diffusion Policy Led by @Dian_Wang_. A sample efficient BC algorithm based on equi diffusion. It leverages symmetry to boost learning with 5x less training data and mastering complex tasks with <60 demos. Presenting at Oral Session 1 and Poster Session 2.

#CoRL2024 Leveraging Mutual Information for Asymmetric Learning under Partial Observability led by @HaiNguy69482974 Addressing asymmetric learning under partial observability (state availability at training) by rewarding actions leads to histories that gain info about the state.

#CoRL2024 OrbitGrasp: SE(3)-Equivariant Grasp Learning Led by @boce_hu. Orbitgrasp maps each point in the cloud to a continuous grasp quality function using spherical harmonics. Our method outperforms all baselines across all settings and tasks. Presenting at Poster Session 1.

Helping Hand member @SaulBadman12 talks about his approach for Equivariant Imitation Learning at the @KhouryCollege Research Apprenticeship Showcase. Work with @DianWang1007 @GuanangS @_davidklee @XupengZ @RobinSFWalters @RobotPlatt

After a heated match, our robot took down the team of human challengers (Robot played as Yellow) and claimed its crown as Connect 4 King!

High school seniors from the Young Scholar's Program @Northeastern joined our lab for the summer and built a robot with an expert Connect 4 brain! The robot takes a picture of the board, determines the best move, grasps the game piece and places it in the correct column

This morning, students from @OBryantSchool stopped by the lab to learn about our robots. Here is @XupengZ showing the power of reinforcement learning for robotic manipulation, and Colin Keil gave a demo from his work in the Avatar competition! @RobinSFWalters @KhouryCollege