2 citations · 4 across the 6 of their papers we have counts for
6 papers
Suction Leap-Hand: Suction Cups on a Multi-fingered Hand Enable Embodied Dexterity and In-Hand Teleoperation
Sun Zhaole, Xiaofeng Mao, Jihong Zhu +2
Dexterous in-hand manipulation remains a foundational challenge in robotics, with progress often constrained by the prevailing paradigm of imitating the human hand. This anthropomo…
Learning Long-Horizon Robot Manipulation Skills via Privileged Action
Xiaofeng Mao, Yucheng Xu, Zhaole Sun +3
Long-horizon contact-rich tasks are challenging to learn with reinforcement learning, due to ineffective exploration of high-dimensional state spaces with sparse rewards. The learn…
Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation
Sun Zhaole, Xiao Gao, Xiaofeng Mao +3
Existing research that addressed cable manipulation relied on two-fingered grippers, which make it difficult to perform similar cable manipulation tasks that humans perform. Howeve…
DexDLO: Learning Goal-Conditioned Dexterous Policy for Dynamic Manipulation of Deformable Linear Objects
Sun Zhaole, Jihong Zhu, Robert B. Fisher
Deformable linear object (DLO) manipulation is needed in many fields. Previous research on deformable linear object (DLO) manipulation has primarily involved parallel jaw gripper m…
Object-Centric Representation Learning with Generative Spatial-Temporal Factorization
Li Nanbo, Muhammad Ahmed Raza, Hu Wenbin +2
Learning object-centric scene representations is essential for attaining structural understanding and abstraction of complex scenes. Yet, as current approaches for unsupervised obj…
Learning Pregrasp Manipulation of Objects from Ungraspable Poses
Zhaole Sun, Kai Yuan, Wenbin Hu +2
In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped fro…