2 citations · 3 across the 8 of their papers we have counts for
10 papers
Dexterity from Supervised Play
Botao He, Yiming Dou, Yiannis Aloimonos +3
How can robots autonomously collect the contact-rich experience needed to learn dexterous manipulation? We present DSP: Dexterity from supervised play, a framework in which a robot…
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…
Any4D: Unified Feed-Forward Metric 4D Reconstruction
Jay Karhade, Nikhil Keetha, Yuchen Zhang +4
We present Any4D, a scalable multi-view transformer for metric-scale, dense feed-forward 4D reconstruction. Any4D directly generates per-pixel motion and geometry predictions for N…
Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations
Irmak Guzey, Haozhi Qi, Julen Urain +10
Learning multi-fingered robot policies from humans performing daily tasks in natural environments has long been a grand goal in the robotics community. Achieving this would mark si…
SPIDER: Scalable Physics-Informed Dexterous Retargeting
Chaoyi Pan, Changhao Wang, Haozhi Qi +8
Learning agile robotic policies requires large-scale demonstrations, but translating abundant human motion data to robots is bottlenecked by the embodiment gap and missing dynamic…
Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation
Carolina Higuera, Akash Sharma, Taosha Fan +8
We present Sparsh-X, the first multisensory touch representations across four tactile modalities: image, audio, motion, and pressure. Trained on ~1M contact-rich interactions colle…
Self-supervised perception for tactile skin covered dexterous hands
Akash Sharma, Carolina Higuera, Chaithanya Krishna Bodduluri +9
We present Sparsh-skin, a pre-trained encoder for magnetic skin sensors distributed across the fingertips, phalanges, and palm of a dexterous robot hand. Magnetic tactile skins off…
DexterityGen: Foundation Controller for Unprecedented Dexterity
Zhao-Heng Yin, Changhao Wang, Luis Pineda +11
Teaching robots dexterous manipulation skills, such as tool use, presents a significant challenge. Current approaches can be broadly categorized into two strategies: human teleoper…
Sparsh: Self-supervised touch representations for vision-based tactile sensing
Carolina Higuera, Akash Sharma, Chaithanya Krishna Bodduluri +8
In this work, we introduce general purpose touch representations for the increasingly accessible class of vision-based tactile sensors. Such sensors have led to many recent advance…
Compositional Scalable Object SLAM
Akash Sharma, Wei Dong, Michael Kaess
We present a fast, scalable, and accurate Simultaneous Localization and Mapping (SLAM) system that represents indoor scenes as a graph of objects. Leveraging the observation that a…