🤖 Robotic Manipulation | Reinforcement Learning | PI Rob Platt @RobotPlatt @KhouryCollege @Northeastern
Boston, Massachusetts
Joined March 2022
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SO(3)-equivariant policy learning in the RGB space needs much more exploration. Really like how this work streamlines the pipeline while preserving full symmetry. Amazing work from Boce. Highly recommend checking it out. See you at #NeurIPS2025!
Closed-loop visuomotor control with wrist cameras is widely adopted and powerful, but leveraging full 3D symmetry from only RGB is still hard.
Introducing our #NeurIPS2025 Spotlight paper, Image-to-Sphere Policy (ISP), for equivariant policy learning from eye-in-hand RGB images.
Helping Hands Lab @ Northeastern retweeted
Closed-loop visuomotor control with wrist cameras is widely adopted and powerful, but leveraging full 3D symmetry from only RGB is still hard.
Introducing our #NeurIPS2025 Spotlight paper, Image-to-Sphere Policy (ISP), for equivariant policy learning from eye-in-hand RGB images.
Helping Hands Lab @ Northeastern retweeted
Equivariant policy typically requires depth for symmetric representation, what if we only have a wrist-mounted RGB camera? ISP projects RGB image onto a sphere for 3D equivariant reasoning. @boce_hu and I will be at #NeurIPS2025 to present this paper, Fri. poster session 6 #2315!
Closed-loop visuomotor control with wrist cameras is widely adopted and powerful, but leveraging full 3D symmetry from only RGB is still hard.
Introducing our #NeurIPS2025 Spotlight paper, Image-to-Sphere Policy (ISP), for equivariant policy learning from eye-in-hand RGB images.
Our new #ICML2025 paper, led by @ZhaoHaibo47588, presents a hierarchical equivariance architecture that enables multi-level sample efficiency in visuomotor policy learning. Check it out for more details!
Excited to share our #ICML2025 paper, Hierarchical Equivariant Policy via Frame Transfer. Our Frame Transfer interface imposes high-level decision as a coordinate frame change in the low-level, boosting sim performance by 20%+ and enabling complex manipulation with 30 demos.
Helping Hands Lab @ Northeastern retweeted
Honored to receive my first best paper nomination from @corl_conf! Had such a great time at #CoRL2024, huge thanks to the organizing committee and all my co-authors: Steve, David, @tarikkelestemur, @HaojieHuang13, @ZhaoHaibo47588, Mark, JW, @RobinSFWalters, @RobotPlatt!
Helping Hands Lab @ Northeastern retweeted
Perfect start to the #CoRL2024 week!
Was a pleasure organizing the NextGen Robot Learning Symposium at @TUDarmstadt with @firasalhafez @GeorgiaChal
Thanks to the speakers for the great talks! @YunzhuLiYZ
@NimaFazeli7 @Dian_Wang_ @HaojieHuang13 @Vikashplus @ehsanik @Oliver_Kroemer – at Darmstadt, Germany
#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.
Paper link: arxiv.org/abs/2406.11740
Website: haojhuang.github.io/imagine_…
Coauthors: @Dian_Wang_, @BizaOndrej, @RubyFreax, @SeanLiu7081, @SaulBadman12, @RobotPlatt, @RobinSFWalters
#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.
Paper link: arxiv.org/abs/2407.11298
Website: h-freax.github.io/thinkgrasp…
Coauthors: @XupengZ, @BizaOndrej, Shuo Jiang, @LinfengZhaoZLF, @HaojieHuang13, @yuqi_Beijing, @RobotPlatt
#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.
Paper link: arxiv.org/abs/2407.01812
Website: equidiff.github.io
Coauthors: Stephen Hart, David Surovik, @tarikkelestemur, @HaojieHuang13, @ZhaoHaibo47588, Mark Yeatman, Jiuguang Wang, @RobinSFWalters, @RobotPlatt
#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.
Presenting at Poster Session 2.
Paper link: openreview.net/pdf?id=9jJP2J…
Coauthors: Long Dinh Van The @cjdamato @RobotPlatt
Paper link: arxiv.org/abs/2407.03531
Website: orbitgrasp.github.io/
Coauthors: @XupengZ @Dian_Wang_ Zihao Dong @HaojieHuang13 @330781570 @RobinSFWalters @RobotPlatt
Excited to share our #CoRL2024 paper: OrbitGrasp—a fully SE(3)-equivariant grasp detection method for 6-DoF grasping!
arxiv: arxiv.org/pdf/2407.03531
Grasp detection is crucial for robotic manipulation but remains challenging in SE(3).
We introduce our #CoRL2024 paper: OrbitGrasp, an SE(3)-equivariant grasp learning framework using spherical harmonics for 6-DoF grasp detection.
🌐 orbitgrasp.github.io
Helping Hands Lab @ Northeastern retweeted
Join us on Monday October. 14th at 2pm (UTC+4) in #IROS2024 Workshop on Equivariant Robotics.
A great lineup of keynote speakers will discuss how symmetry penetrates each and every subfield of robotics.
Website and Zoom Link: equirob2024.github.io/
Helping Hands Lab @ Northeastern retweeted
We have released the YouTube recording of our #RSS2024 workshop on "Geometric and Algebraic Structure in Robot Learning"!
🎥Youtube: youtube.com/playlist?list=PL…
🏠Webpage: sites.google.com/view/gas-rl…
Helping Hands Lab @ Northeastern retweeted
Instead of inferring a desired object pose directly, this method "imagines" a reconstruction of the entire scene in the target pose. Surprisingly, we find that this improves sample efficiency, even though we are inferring more information.