Geometric Robot Learning for Generalizable Skills Acquisition

Speaker:
Prof. Xiaolong Wang
Associate Professor
Department of Electrical and Computer Engineering, University of California, San Diego

Abstract:

Robot learning has witnessed significant progress in terms of generalization in the past few years. At the heart of such a generalization, the advancement of representation learning, such as image and text foundation models plays an important role. While these achievements are encouraging, most tasks conducted are relatively simple. In this talk, I will talk about our recent efforts on learning generalizable skills focusing on tasks with complex 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, language-driven manipulation, and legged locomotion control.

Biography:

Xiaolong Wang is an Assistant Professor in the ECE department at the University of California, San Diego, affiliated with the TILOS NSF AI Institute. He received his Ph.D. in Robotics at Carnegie Mellon University. His postdoctoral training was at the University of California, Berkeley. His research focuses on the intersection between computer vision and robotics. His specific interest lies in learning 3D and dynamics representations from videos and physical robotic interaction data. These comprehensive representations are utilized to facilitate the learning of robot skills, with the goal of generalizing the robot to interact effectively with a wide range of objects and environments in the real physical world. He is the recipient of the NSF CAREER Award, Intel Rising Star Faculty Award, and Research Awards from Sony, Amazon, Adobe, and Cisco.

Enquiries: Ms Anna Wong (annawong@cse.cuhk.edu.hk)