5 papers · 1 filter
DexFlow: A Unified Approach for Dexterous Hand Pose Retargeting and Interaction
Xiaoyi Lin, Kunpeng Yao, Lixin Xu +4
Despite advances in hand-object interaction modeling, generating realistic dexterous manipulation data for robotic hands remains a challenge. Retargeting methods often suffer from…
Implicit Articulated Robot Morphology Modeling with Configuration Space Neural Signed Distance Functions
Yiting Chen, Xiao Gao, Kunpeng Yao +3
In this paper, we introduce a novel approach to implicitly encode precise robot morphology using forward kinematics based on a configuration space signed distance function. Our pro…
Action Contextualization: Adaptive Task Planning and Action Tuning using Large Language Models
Sthithpragya Gupta, Kunpeng Yao, Loïc Niederhauser +1
Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the…
Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multi-Fingered In-Hand Manipulation
Xiao Gao, Kunpeng Yao, Farshad Khadivar +1
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers…
Transfer Learning in Robotics: An Upcoming Breakthrough? A Review of Promises and Challenges
Noémie Jaquier, Michael C. Welle, Andrej Gams +6
Transfer learning is a conceptually-enticing paradigm in pursuit of truly intelligent embodied agents. The core concept -- reusing prior knowledge to learn in and from novel situat…