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cs.RO2025
DexForce: Extracting Force-informed Actions from Kinesthetic Demonstrations for Dexterous Manipulation
Claire Chen, Zhongchun Yu, Hojung Choi +2
Imitation learning requires high-quality demonstrations consisting of sequences of state-action pairs. For contact-rich dexterous manipulation tasks that require dexterity, the act…
cs.RO2025
AO-Grasp: Articulated Object Grasp Generation
Carlota Parés Morlans, Claire Chen, Yijia Weng +6
We introduce AO-Grasp, a grasp proposal method that generates 6 DoF grasps that enable robots to interact with articulated objects, such as opening and closing cabinets and applian…