17 citations · 31 across the 9 of their papers we have counts for
6 papers · 1 filter
Data Pyramid for Embodied Manipulation: A Survey
Yifan Ye, Yankai Fu, Yaoxu Lv +26
Multimodal foundation models learned to see and to speak by consuming the whole internet. Embodied agents admit no such shortcut, since they require data that couple observations w…
UniTacVLA: Unified Tactile Understanding and Prediction in Vision Language Action Models
Xidong Zhang, Yichi Zhang, Jiaxin Shi +5
Vision-language-action (VLA) models have achieved strong performance in many robotic manipulation tasks, yet remain limited in contact-rich dexterous manipulation. To overcome this…
Multi-Object Rearrangement with Monte Carlo Tree Search:A Case Study on Planar Nonprehensile Sorting
Haoran Song, Joshua A. Haustein, Weihao Yuan +4
In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push many densely packed objects belonging to different classes into a configuration where the…
Towards Learning to Detect and Predict Contact Events on Vision-based Tactile Sensors
Yazhan Zhang, Weihao Yuan, Zicheng Kan +1
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguis…
Reinforcement Learning in Topology-based Representation for Human Body Movement with Whole Arm Manipulation
Weihao Yuan, Kaiyu Hang, Haoran Song +3
Moving a human body or a large and bulky object can require the strength of whole arm manipulation (WAM). This type of manipulation places the load on the robot's arms and relies o…
Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learning
Weihao Yuan, Johannes A. Stork, Danica Kragic +2
Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by…