Franziska Meier

Towards robust online inverse dynamics learning

2016

Learning of inverse dynamics modeling errors is key for compliant or force control when analytical models are only rough approximations. Thus, designing real time capable function approximation algorithms has been a necessary focus towards the …

Habitat 2.0: Training Home Assistants to Rearrange their Habitat

2021 · arXiv (Cornell University)

We introduce Habitat 2.0 (H2.0), a simulation platform for training virtual robots in interactive 3D environments and complex physics-enabled scenarios. We make comprehensive contributions to all levels of the embodied AI stack - data, simulation, …

What do we learn from a large-scale study of pre-trained visual representations in sim and real environments?

2023 · arXiv (Cornell University)

We present a large empirical investigation on the use of pre-trained visual representations (PVRs) for training downstream policies that execute real-world tasks. Our study involves five different PVRs, each trained for five distinct manipulation or …