About me

I’m a last year MSc. student in Computer Science at Universidad Católica San Pablo , working on Reinforcement Learning for Robotics. I received my BEng. degree in Mechatronics from Universidad Nacional de Ingenieria where I worked as a Research Assistant on a mobile robotic platform, mostly developing drivers for sensors and actuators.

Publications

• Colosseum: A Benchmark for Evaluating Generalization for Robotic Manipulation

  Authors: Wilbert Pumacay, Ishika Singh, Jiafei Duan, Ranjay Krishna, Jesse Thomason, Dieter Fox

  Website - Paper - Code

• AHA: A Vision-Language-Model for Detecting and Reasoning over Failures in Robotic Manipulation

  Authors: Jiafei Duan, Wilbert Pumacay, Nishanth Kumar, Yi Ru Wang, Shulin Tian, Wentao Yuan, Ranjay Krishna, Dieter Fox, Ajay Mandlekar, Yijie Guo

  Website - Paper

• Manipulate Anything: Automating Real-World Robots using Vision-Language Models

  Authors: Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, Ranjay Krishna

  Website - Paper - Code

• RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics

  Authors: Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, Dieter Fox

  Website - Paper - Code

Projects

• Loco: A robotics locomotion framework for DeepRL research.

  

• DeeprlND-projects: Project implementations for the DeepRL Nanodegree by Udacity.

  • Project 1: Deep Q-learning

  

  • Project 2: Deep Deterministic Policy Gradients (DDPG)

  

  • Project 3: Multi-Agent DDPG

  

• TinyRenderer: A basic rendering engine based in C++ and OpenGL.

  

• TinyRendererJs: A port of my rendering engine to typescript and WebGL. A sample app can be found here

  

• leojs: A sandbox to play around with the DH-representation, FK and IK. The app can be found here

  

• Rover Project: The rover project from my first-term of the RoboND from Udacity.

  

• Forward and Inverse Kinematics Project: The kinematics project from my first-term of the RoboND from Udacity.

  

• 3D Perception Project: The perception project from my first-term of the RoboND from Udacity.

  

• Semantic Segmentation Project: The semantic segmentation project from my first-term of the RoboND from Udacity.

  

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