3 papers
cs.RO2025
Touch begins where vision ends: Generalizable policies for contact-rich manipulation
Zifan Zhao, Siddhant Haldar, Jinda Cui +2
Data-driven approaches struggle with precise manipulation; imitation learning requires many hard-to-obtain demonstrations, while reinforcement learning yields brittle, non-generali…
cs.RO2024
ResPilot: Teleoperated Finger Gaiting via Gaussian Process Residual Learning
Patrick Naughton, Jinda Cui, Karankumar Patel +1
Dexterous robot hand teleoperation allows for long-range transfer of human manipulation expertise, and could simultaneously provide a way for humans to teach these skills to robots…
cs.RO2024
HyperTaxel: Hyper-Resolution for Taxel-Based Tactile Signals Through Contrastive Learning
Hongyu Li, Snehal Dikhale, Jinda Cui +2
To achieve dexterity comparable to that of humans, robots must intelligently process tactile sensor data. Taxel-based tactile signals often have low spatial-resolution, with non-st…