101 citations · 405 across the 23 of their papers we have counts for
13 papers · 1 filter
AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
Yuzhe Qin, Wei Yang, Binghao Huang +5
Vision-based teleoperation offers the possibility to endow robots with human-level intelligence to physically interact with the environment, while only requiring low-cost camera se…
EasyHeC: Accurate and Automatic Hand-eye Calibration via Differentiable Rendering and Space Exploration
Linghao Chen, Yuzhe Qin, Xiaowei Zhou +1
Hand-eye calibration is a critical task in robotics, as it directly affects the efficacy of critical operations such as manipulation and grasping. Traditional methods for achieving…
ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills
Jiayuan Gu, Fanbo Xiang, Xuanlin Li +12
Generalizable manipulation skills, which can be composed to tackle long-horizon and complex daily chores, are one of the cornerstones of Embodied AI. However, existing benchmarks,…
DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation
Yuzhe Qin, Binghao Huang, Zhao-Heng Yin +2
We propose a sim-to-real framework for dexterous manipulation which can generalize to new objects of the same category in the real world. The key of our framework is to train the m…
Frame Mining: a Free Lunch for Learning Robotic Manipulation from 3D Point Clouds
Minghua Liu, Xuanlin Li, Zhan Ling +2
We study how choices of input point cloud coordinate frames impact learning of manipulation skills from 3D point clouds. There exist a variety of coordinate frame choices to normal…
A Real2Sim2Real Method for Robust Object Grasping with Neural Surface Reconstruction
Luobin Wang, Runlin Guo, Quan Vuong +3
Recent 3D-based manipulation methods either directly predict the grasp pose using 3D neural networks, or solve the grasp pose using similar objects retrieved from shape databases.…
Multi-skill Mobile Manipulation for Object Rearrangement
Jiayuan Gu, Devendra Singh Chaplot, Hao Su +1
We study a modular approach to tackle long-horizon mobile manipulation tasks for object rearrangement, which decomposes a full task into a sequence of subtasks. To tackle the entir…
Contact Points Discovery for Soft-Body Manipulations with Differentiable Physics
Sizhe Li, Zhiao Huang, Tao Du +3
Differentiable physics has recently been shown as a powerful tool for solving soft-body manipulation tasks. However, the differentiable physics solver often gets stuck when the ini…
From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation
Yuzhe Qin, Hao Su, Xiaolong Wang
We propose to perform imitation learning for dexterous manipulation with multi-finger robot hand from human demonstrations, and transfer the policy to the real robot hand. We intro…
Close the Optical Sensing Domain Gap by Physics-Grounded Active Stereo Sensor Simulation
Xiaoshuai Zhang, Rui Chen, Ang Li +11
In this paper, we focus on the simulation of active stereovision depth sensors, which are popular in both academic and industry communities. Inspired by the underlying mechanism of…
Single RGB-D Camera Teleoperation for General Robotic Manipulation
Quan Vuong, Yuzhe Qin, Runlin Guo +3
We propose a teleoperation system that uses a single RGB-D camera as the human motion capture device. Our system can perform general manipulation tasks such as cloth folding, hamme…
OCRTOC: A Cloud-Based Competition and Benchmark for Robotic Grasping and Manipulation
Ziyuan Liu, Wei Liu, Yuzhe Qin +8
In this paper, we propose a cloud-based benchmark for robotic grasping and manipulation, called the OCRTOC benchmark. The benchmark focuses on the object rearrangement problem, spe…
S4G: Amodal Single-view Single-Shot SE(3) Grasp Detection in Cluttered Scenes
Yuzhe Qin, Rui Chen, Hao Zhu +3
Grasping is among the most fundamental and long-lasting problems in robotics study. This paper studies the problem of 6-DoF(degree of freedom) grasping by a parallel gripper in a c…