Morphology-conditioned quadrupedal world model enables zero-shot generalization to new robot embodiments for locomotion tasks.
Cross-embodiment dexterous hand articulation generation via morphology-aware learning
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A JAX-implemented flow-based equivariant model for multi-embodiment grasping that deduces kinematics from geometry to support variable-DoF grippers with a new dataset of 25k scenes and 20M grasps.
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Toward Hardware-Agnostic Quadrupedal World Models via Morphology Conditioning
Morphology-conditioned quadrupedal world model enables zero-shot generalization to new robot embodiments for locomotion tasks.
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Towards a Multi-Embodied Grasping Agent
A JAX-implemented flow-based equivariant model for multi-embodiment grasping that deduces kinematics from geometry to support variable-DoF grippers with a new dataset of 25k scenes and 20M grasps.