40 citations · 153 across the 38 of their papers we have counts for
16 papers · 1 filter
RigPI: Dynamic Parameter Identification of Rigid Body via VLM-Seeded Differentiable Simulation
Xincheng He, Rongrong Zhang, Wei Jiang +1
Accurate physical parameter identification of manipulated objects is fundamental to advanced robotic manipulation and the construction of faithful digital twins. However, acquiring…
Towards Human-Like Manipulation through RL-Augmented Teleoperation and Mixture-of-Dexterous-Experts VLA
Tutian Tang, Xingyu Ji, Wanli Xing +7
While Vision-Language-Action (VLA) models have demonstrated remarkable success in robotic manipulation, their application has largely been confined to low-degree-of-freedom end-eff…
FSGlove: An Inertial-Based Hand Tracking System with Shape-Aware Calibration
Yutong Li, Jieyi Zhang, Wenqiang Xu +2
Accurate hand motion capture (MoCap) is vital for applications in robotics, virtual reality, and biomechanics, yet existing systems face limitations in capturing high-degree-of-fre…
FBI: Learning Dexterous In-hand Manipulation with Dynamic Visuotactile Shortcut Policy
Yijin Chen, Wenqiang Xu, Zhenjun Yu +4
Dexterous in-hand manipulation is a long-standing challenge in robotics due to complex contact dynamics and partial observability. While humans synergize vision and touch for such…
DexTOG: Learning Task-Oriented Dexterous Grasp with Language
Jieyi Zhang, Wenqiang Xu, Zhenjun Yu +3
This study introduces a novel language-guided diffusion-based learning framework, DexTOG, aimed at advancing the field of task-oriented grasping (TOG) with dexterous hands. Unlike…
DiPGrasp: Parallel Local Searching for Efficient Differentiable Grasp Planning
Wenqiang Xu, Jieyi Zhang, Tutian Tang +3
Grasp planning is an important task for robotic manipulation. Though it is a richly studied area, a standalone, fast, and differentiable grasp planner that can work with robot grip…
Kalib: Easy Hand-Eye Calibration with Reference Point Tracking
Tutian Tang, Minghao Liu, Wenqiang Xu +1
Hand-eye calibration aims to estimate the transformation between a camera and a robot. Traditional methods rely on fiducial markers, which require considerable manual effort and pr…
Intersection-free Robot Manipulation with Soft-Rigid Coupled Incremental Potential Contact
Wenxin Du, Siqiong Yao, Xinlei Wang +3
This paper presents a novel simulation platform, ZeMa, designed for robotic manipulation tasks concerning soft objects. Such simulation ideally requires three properties: two-way s…
TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensors
Wenxin Du, Wenqiang Xu, Jieji Ren +2
Tactile perception stands as a critical sensory modality for human interaction with the environment. Among various tactile sensor techniques, optical sensor-based approaches have g…
Differentiable Cloth Parameter Identification and State Estimation in Manipulation
Dongzhe Zheng, Siqiong Yao, Wenqiang Xu +1
In the realm of robotic cloth manipulation, accurately estimating the cloth state during or post-execution is imperative. However, the inherent complexities in a cloth's dynamic be…
Differentiable Fluid Physics Parameter Identification Via Stirring
Wenqiang Xu, Dongzhe Zheng, Yutong Li +2
Fluid interactions permeate daily human activities, with properties like density and viscosity playing pivotal roles in household tasks. While density estimation is straightforward…
Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning
Zhenjun Yu, Wenqiang Xu, Siqiong Yao +5
This work presents a novel tactile perception-based method, named T-NT, for performing the needle-threading task, an application of deformable linear object (DLO) manipulation. Thi…
UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Folding
Han Xue, Yutong Li, Wenqiang Xu +3
This paper explores the development of UniFolding, a sample-efficient, scalable, and generalizable robotic system for unfolding and folding various garments. UniFolding employs the…
RCareWorld: A Human-centric Simulation World for Caregiving Robots
Ruolin Ye, Wenqiang Xu, Haoyuan Fu +5
We present RCareWorld, a human-centric simulation world for physical and social robotic caregiving designed with inputs from stakeholders, including care recipients, caregivers, oc…
RFUniverse: A Multiphysics Simulation Platform for Embodied AI
Haoyuan Fu, Wenqiang Xu, Ruolin Ye +7
Multiphysics phenomena, the coupling effects involving different aspects of physics laws, are pervasive in the real world and can often be encountered when performing everyday hous…
SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning
Jun Lv, Qiaojun Yu, Lin Shao +3
Building general-purpose robots to perform a diverse range of tasks in a large variety of environments in the physical world at the human level is extremely challenging. It require…