352 citations · 681 across the 16 of their papers we have counts for
16 papers
EHC-MM: Embodied Holistic Control for Mobile Manipulation
Jiawen Wang, Yixiang Jin, Jun Shi +5
Mobile manipulation typically entails the base for mobility, the arm for accurate manipulation, and the camera for perception. The principle of Distant Mobility, Close Grasping(DMC…
When Vision Meets Touch: A Contemporary Review for Visuotactile Sensors from the Signal Processing Perspective
Shoujie Li, Zihan Wang, Changsheng Wu +6
Tactile sensors, which provide information about the physical properties of objects, are an essential component of robotic systems. The visuotactile sensing technology with the mer…
Simulation of Optical Tactile Sensors Supporting Slip and Rotation using Path Tracing and IMPM
Zirong Shen, Yuhao Sun, Shixin Zhang +4
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, ach…
What Foundation Models can Bring for Robot Learning in Manipulation : A Survey
Dingzhe Li, Yixiang Jin, Yuhao Sun +11
The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unst…
RobotGPT: Robot Manipulation Learning from ChatGPT
Yixiang Jin, Dingzhe Li, Yong A +5
We present RobotGPT, an innovative decision framework for robotic manipulation that prioritizes stability and safety. The execution code generated by ChatGPT cannot guarantee the s…
Deep Reinforcement Learning for Robotic Pushing and Picking in Cluttered Environment
Yuhong Deng, Xiaofeng Guo, Yixuan Wei +5
In this paper, a novel robotic grasping system is established to automatically pick up objects in cluttered scenes. A composite robotic hand composed of a suction cup and a gripper…
Tacchi: A Pluggable and Low Computational Cost Elastomer Deformation Simulator for Optical Tactile Sensors
Zixi Chen, Shixin Zhang, Shan Luo +2
Simulation is widely applied in robotics research to save time and resources. There have been several works to simulate optical tactile sensors that leverage either a smoothing met…
Hybrid Robotic Grasping with a Soft Multimodal Gripper and a Deep Multistage Learning Scheme
Fukang Liu, Fuchun Sun, Bin Fang +3
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it inv…
Elastic Tactile Simulation Towards Tactile-Visual Perception
Yikai Wang, Wenbing Huang, Bin Fang +2
Tactile sensing plays an important role in robotic perception and manipulation tasks. To overcome the real-world limitations of data collection, simulating tactile response in a vi…
Elastic Interaction of Particles for Robotic Tactile Simulation
Yikai Wang, Wenbing Huang, Bin Fang +1
Tactile sensing plays an important role in robotic perception and manipulation. To overcome the real-world limitations of data collection, simulating tactile response in virtual en…
Reusing Discriminators for Encoding: Towards Unsupervised Image-to-Image Translation
Runfa Chen, Wenbing Huang, Binghui Huang +2
Unsupervised image-to-image translation is a central task in computer vision. Current translation frameworks will abandon the discriminator once the training process is completed.…
Fabric Defect Detection Using Vision-Based Tactile Sensor
Bin Fang, Xingming Long, Yifan Zhang +3
This paper introduces a new type of system for fabric defect detection with the tactile inspection system. Different from existed visual inspection systems, the proposed system imp…
Reinforcement Learning from Imperfect Demonstrations under Soft Expert Guidance
Mingxuan Jing, Xiaojian Ma, Wenbing Huang +4
In this paper, we study Reinforcement Learning from Demonstrations (RLfD) that improves the exploration efficiency of Reinforcement Learning (RL) by providing expert demonstrations…
Attention-based Transfer Learning for Brain-computer Interface
Chuanqi Tan, Fuchun Sun, Tao Kong +2
Different functional areas of the human brain play different roles in brain activity, which has not been paid sufficient research attention in the brain-computer interface (BCI) fi…
Vision-based Teleoperation of Shadow Dexterous Hand using End-to-End Deep Neural Network
Shuang Li, Xiaojian Ma, Hongzhuo Liang +5
In this paper, we present TeachNet, a novel neural network architecture for intuitive and markerless vision-based teleoperation of dexterous robotic hands. Robot joint angles are d…
PointNetGPD: Detecting Grasp Configurations from Point Sets
Hongzhuo Liang, Xiaojian Ma, Shuang Li +5
In this paper, we propose an end-to-end grasp evaluation model to address the challenging problem of localizing robot grasp configurations directly from the point cloud. Compared t…