374 citations · 1.2k across the 33 of their papers we have counts for
34 papers
Scalable, Simulation-Guided Compliant Tactile Finger Design
Yuxiang Ma, Arpit Agarwal, Sandra Q. Liu +2
Compliant grippers enable robots to work with humans in unstructured environments. In general, these grippers can improve with tactile sensing to estimate the state of objects arou…
PoCo: Policy Composition from and for Heterogeneous Robot Learning
Lirui Wang, Jialiang Zhao, Yilun Du +2
Training general robotic policies from heterogeneous data for different tasks is a significant challenge. Existing robotic datasets vary in different modalities such as color, dept…
GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation
Jialiang Zhao, Edward H. Adelson
This paper presents GelSight Svelte Hand, a novel 3-finger 2-DoF tactile robotic hand that is capable of performing precision grasps, power grasps, and intermediate grasps. Rich ta…
GelSight Svelte: A Human Finger-shaped Single-camera Tactile Robot Finger with Large Sensing Coverage and Proprioceptive Sensing
Jialiang Zhao, Edward H. Adelson
Camera-based tactile sensing is a low-cost, popular approach to obtain highly detailed contact geometry information. However, most existing camera-based tactile sensors are fingert…
Tactile-Reactive Roller Grasper
Shenli Yuan, Shaoxiong Wang, Radhen Patel +4
Manipulation of objects within a robot's hand is one of the most important challenges in achieving robot dexterity. The "Roller Graspers" refers to a family of non-anthropomorphic…
GelSight360: An Omnidirectional Camera-Based Tactile Sensor for Dexterous Robotic Manipulation
Megha H. Tippur, Edward H. Adelson
Camera-based tactile sensors have shown great promise in enhancing a robot's ability to perform a variety of dexterous manipulation tasks. Advantages of their use can be attributed…