40 citations · 121 across the 37 of their papers we have counts for
38 papers
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…
Rethinking Camera Choice: An Empirical Study on Fisheye Camera Properties in Robotic Manipulation
Han Xue, Nan Min, Xiaotong Liu +5
The adoption of fisheye cameras in robotic manipulation, driven by their exceptionally wide Field of View (FoV), is rapidly outpacing a systematic understanding of their downstream…
Stereo-Inertial Poser: Towards Metric-Accurate Shape-Aware Motion Capture Using Sparse IMUs and a Single Stereo Camera
Tutian Tang, Xingyu Ji, Yutong Li +3
Recent advancements in visual-inertial motion capture systems have demonstrated the potential of combining monocular cameras with sparse inertial measurement units (IMUs) as cost-e…
I-Perceive: A Foundation Model for Vision-Language Active Perception
Yongxi Huang, Zhuohang Wang, Wenjing Tang +3
Active perception - the ability of a robot to proactively select viewpoints to acquire task-relevant information - is essential for robust operation in real-world environments. How…
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…
Right-Side-Out: Learning Zero-Shot Sim-to-Real Garment Reversal
Chang Yu, Siyu Ma, Wenxin Du +9
Turning garments right-side out is a challenging manipulation task: it is highly dynamic, entails rapid contact changes, and is subject to severe visual occlusion. We introduce Rig…
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…
AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation
Yizheng Zhang, Zhenjun Yu, Jiaxin Lai +2
We introduce AgentWorld, an interactive simulation platform for developing household mobile manipulation capabilities. Our platform combines automated scene construction that encom…
Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
Han Xue, Jieji Ren, Wendi Chen +5
Humans can accomplish complex contact-rich tasks using vision and touch, with highly reactive capabilities such as fast response to external changes and adaptive control of contact…
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…
Dynamic Reconstruction of Hand-Object Interaction with Distributed Force-aware Contact Representation
Zhenjun Yu, Wenqiang Xu, Pengfei Xie +4
We present ViTaM-D, a novel visual-tactile framework for reconstructing dynamic hand-object interaction with distributed tactile sensing to enhance contact modeling. Existing metho…
DeformPAM: Data-Efficient Learning for Long-horizon Deformable Object Manipulation via Preference-based Action Alignment
Wendi Chen, Han Xue, Fangyuan Zhou +2
In recent years, imitation learning has made progress in the field of robotic manipulation. However, it still faces challenges when addressing complex long-horizon tasks with defor…
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…
MS-MANO: Enabling Hand Pose Tracking with Biomechanical Constraints
Pengfei Xie, Wenqiang Xu, Tutian Tang +2
This work proposes a novel learning framework for visual hand dynamics analysis that takes into account the physiological aspects of hand motion. The existing models, which are sim…
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…
RFTrans: Leveraging Refractive Flow of Transparent Objects for Surface Normal Estimation and Manipulation
Tutian Tang, Jiyu Liu, Jieyi Zhang +3
Transparent objects are widely used in our daily lives, making it important to teach robots to interact with them. However, it's not easy because the reflective and refractive effe…
Visual-Tactile Sensing for In-Hand Object Reconstruction
Wenqiang Xu, Zhenjun Yu, Han Xue +3
Tactile sensing is one of the modalities humans rely on heavily to perceive the world. Working with vision, this modality refines local geometry structure, measures deformation at…
GarmentTracking: Category-Level Garment Pose Tracking
Han Xue, Wenqiang Xu, Jieyi Zhang +5
Garments are important to humans. A visual system that can estimate and track the complete garment pose can be useful for many downstream tasks and real-world applications. In this…