The Helping Hands Lab

The Helping Hands Lab

@Northeastern University

The Helping Hands Lab develops perception, planning, and control algorithms for robot manipulation in unstructured environments. We are particularly interested in robots that work with humans in built-for-human environments.

Publications

(2025). On-Robot Reinforcement Learning with Goal-Contrastive Rewards. In ICRA'25.

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On-Robot Reinforcement Learning with Goal-Contrastive Rewards
(2025). MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies. In ICRA 2025.

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MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies
(2025). OrbitGrasp: SE(3)-Equivariant Grasp Learning. In CoRL 2024.

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OrbitGrasp: SE(3)-Equivariant Grasp Learning
(2024). Equivariant Diffusion Policy. In CoRL 2024.

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Equivariant Diffusion Policy
(2024). ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter. In CoRL 2024.

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ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter
(2024). IMAGINATION POLICY: Using Generative Point Cloud Models for Learning Manipulation Policies. In CoRL 2024.

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IMAGINATION POLICY: Using Generative Point Cloud Models for Learning Manipulation Policies
(2024). Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D. In ICLR 2024.

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Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D
(2024). Leveraging Pick and Place Symmetries. In IJRR 2024.

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Leveraging Pick and Place Symmetries
(2023). A General Theory of Correct, Incorrect, and Extrinsic Equivariance. In NeurIPS 2023.

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A General Theory of Correct, Incorrect, and Extrinsic Equivariance
(2023). Invariant Slot Attention: Object Discovery with Slot-Centric Reference Frames. In ICML'23.

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Invariant Slot Attention: Object Discovery with Slot-Centric Reference Frames