Tianhao Wei
@wei_tianhao
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PhD at Carnegie Mellon. @ICL_at_CMU @CMU_Robotics @CMU_ECE. Robotics, safe control, embodied AI, neural network verification.
Pittsburgh, PA
Joined August 2018
🤔 How can a robot accomplish heterogeneous tasks, with precision and guarantees?. 🚀 Introducing Meta-Control: Automating model-based control synthesis for heterogeneous skills with LLM! .
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RT @Xiaofeng2Guo: 🚀Can we have a freely moving hand in the air for the manipulation policy to directly command in the real world?. We intro….
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RT @TairanHe99: 🚀 Can we make a humanoid move like Cristiano Ronaldo, LeBron James and Kobe Byrant?. YES!. 🤖 Introducing ASAP: Aligning Sim….
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RT @YifanSun98: [1/4] 🌟Sneak Peek: SPARK in Action! 🦾.Previewing Safe Protective & Assistive Robot Kit (SPARK)—a modular toolbox designed t….
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Compositional system is the key for versatile and reliable control synthesis. We share a similar insight in our recent work Meta-Control. Congrats @ShuoCheng94 @AjayMandlekar !.
Can we teach a robot hundreds of tasks with only dozens of demos?.Introducing NOD-TAMP: A framework that chains together manipulation skills from as few as one demo per skill to compositionally generalize across long-horizon tasks with unseen objects and scenes. (1/N)
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Opening cabinets can be unexpectedly hard for robots. It's one of the major motivations of our recent work on LLM empowered model-based cobtrol. Congrats @arjun__gupta !.
Introducing: Opening Cabinets and Drawers in the Real World using a Commodity Mobile Manipulator. We develop a system to open unseen cabinets and drawers *zero-shot* from novel environments using the Stretch RE2:
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RT @MiZawalski: 🤖Can robots think through complex tasks step-by-step like language models?.We present Embodied Chain-of-Thought Reasoning (….
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Zero-shot deployment withou human crafted skills is very important. Congrats @DJiafei !.
🚀 Excited to share our latest work: MANIPULATE-ANYTHING! 🦾 This scalable method pushes the boundaries of real-world robotic manipulation through zero-shot task execution and automated BC data generation. Here's a quick overview:👇.
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Language encodes so many things about how the world works that we are even not aware of. There is definitely much more to explore.
Chain-of-thought reasoning is a powerful tool to enable language models to work through complex problems. Can we use this with robots? With embodied chain-of-thought, vision-language-action (VLA) models can think through perception and planning!. A 🧵👇
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Very impressive work. Congrats @Ying_yyyyyyyy @QinYuzhe !.
Code released for Robot Synesthesia: .In-Hand Manipulation with Visuotactile Sensing!.Project page: Code:
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Glad to see robots are actually making the world better. Congrats @priyasun_ !.
Introducing FLAIR: Feeding via Long-horizon AcquIsition of Realistic dishes! Our system merges a library of skills with foundation models for efficient robotic feeding, tailored to user preferences. 🔗📃To Appear at RSS ’24. 1/N
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RT @xiaolonw: Imagine if you have an object in hand, you can rotate the object by feeling without even looking. This is what we enable the….
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Audio for tactile sensing is defintely underexplored. I still remember how amazed I was when I first learned this direction from prof. @OliverKroemer. Congrats @Liu_Zeyi_ !.
🔊 Audio signals contain rich information about daily interactions. Can our robots learn from videos with sound?. Introducing ManiWAV, a robotic system that learns contact-rich manipulation skills from in-the-wild audio-visual data. See thread for more details (1/4) 👇
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Very interesting work, congrats @Xiaofeng2Guo !.
We introduce 𝐅𝐥𝐲𝐢𝐧𝐠 𝐂𝐚𝐥𝐥𝐢𝐠𝐫𝐚𝐩𝐡𝐞𝐫, an aerial manipulation system that can draw various calligraphy artworks:. 🎯Contact-aware trajectory planning and hybrid control.✏️Intuitive user interface and novel end-effector design.🧑🎨UAM can draw letters with changing
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Tactile sensing sim2real is a crucial step in generating Internet-level data for robotics. Congrats @HaozhiQ !.
Introducing tactile skin sim-to-real for dexterous in-hand translation!. We propose a simulation model for ReSkin, a magnetic tactile sensing skin. It can simulate ternary shear and binary normal forces. More:
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A big step towards robot foundation model! Congrats @TairanHe99.
Introduce OmniH2O, a learning-based system for whole-body humanoid teleop and autonomy:.🦾Robust loco-mani policy.🦸Universal teleop interface: VR, verbal, RGB.🧠Autonomy via @chatgpt4o or imitation.🔗Release the first whole-body humanoid dataset.
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Meta-Control harnesses LLM's power to automate expert thought processes, creating customized model-based control for heterogeneous skills, paving the way for universal robotic foundations.
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🦾 Diverse heterogeneous manipulation tasks? ✔️.🛠️ Customized state representations & control strategies? ✔️.🤖 Achieving higher autonomy without human intervention? ✔️.📊 Rigorous analysis, generalizability, & robustness? ✔️.⏱️ Real-time, efficient reliable execution? ✔️.
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