Causal Reasoning in Simulation for Structure and Transfer Learning
of Robot Manipulation Policies
Tabitha Edith Lee, Jialiang (Alan) Zhao, Amrita S. Sawhney, Siddharth Girdhar, and Oliver Kroemer
The Robotics Institute, Carnegie Mellon University
Accepted to the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021).
[IEEE Xplore] [arXiv] [Talk]
Below are a selection of videos that show experiments conducted in this work. For more information, please refer to each video's description on YouTube.
Block Stacking (Target: IsaacGym)
Zero-Shot, Structural Sim-to-Real Transfer for Block Stacking (Target: Franka Emika Panda)
Crate Opening (Target: IsaacGym)