429 citations · 611 across the 14 of their papers we have counts for
6 papers · 1 filter
Force-Modulated Dexterity: Unified Compliance for Contact-Rich Manipulation
Ying Yuan, David Held, Jitendra Malik +1
Teleoperation is widely used to collect high-quality demonstrations for robot learning. Dexterous manipulation, however, requires coordinated control of motion and contact forces.…
GOTT: Object-centric Dexterous Manipulation with a Reusable Cross-Embodiment Primitive
Yulin Liu, Lai Wei, Yen-Jen Wang +4
Foundation models and large-scale human data provide rich sources of manipulation intent, but translating this intent into multi-fingered robot behavior remains difficult. Dexterou…
SemanticFeels: Semantic Labeling during In-Hand Manipulation
Anas Al Shikh Khalil, Haozhi Qi, Roberto Calandra
As robots become increasingly integrated into everyday tasks, their ability to perceive both the shape and properties of objects during in-hand manipulation becomes critical for ad…
General In-Hand Object Rotation with Vision and Touch
Haozhi Qi, Brent Yi, Sudharshan Suresh +4
We introduce RotateIt, a system that enables fingertip-based object rotation along multiple axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where…
In-Hand Object Rotation via Rapid Motor Adaptation
Haozhi Qi, Ashish Kumar, Roberto Calandra +2
Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive…
Coupling Vision and Proprioception for Navigation of Legged Robots
Zipeng Fu, Ashish Kumar, Ananye Agarwal +3
We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traver…