9 citations · 21 across the 10 of their papers we have counts for
10 papers
OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies
Kelin Yu, Haode Zhang, Harish Ravichandar +2
Visual policies learned from human videos, teleoperation, and robot demonstrations offer scalable motion priors, but often fail in contact-rich manipulation, where success signific…
Video2Sim2Real: Full-Stack Autonomous Dexterous Skill Acquisition from a Single Human Video
Yunhai Han, Jianuo Qiu, Linhao Bai +14
Human manipulation videos are a convenient and intuitive source for robot learning. However, directly transferring human dexterity to robots remains challenging due to perception e…
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation
Kelin Yu, Yunhai Han, Qixian Wang +3
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided po…
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills
Yunhai Han, Mandy Xie, Ye Zhao +1
Despite impressive dexterous manipulation capabilities enabled by learning-based approaches, we are yet to witness widespread adoption beyond well-resourced laboratories. This is l…
Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution
Michael Enqi Cao, Jonas Warnke, Yunhai Han +3
In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that ap…
Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer
Yunhai Han, Kelin Yu, Rahul Batra +6
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dy…
A Numerical Verification Framework for Differential Privacy in Estimation
Yunhai Han, Sonia Martínez
This work proposes an algorithmic method to verify differential privacy for estimation mechanisms with performance guarantees. Differential privacy makes it hard to distinguish out…
Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy
Fei Liu, Zihan Li, Yunhai Han +3
Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-bas…
A 2D Surgical Simulation Framework for Tool-Tissue Interaction
Yunhai Han, Fei Liu, Michael C. Yip
The control and task automation of robotic surgical system is very challenging, especially in soft tissue manipulation, due to the unpredictable deformations. Thus, an accurate sim…
Auto-calibration Method Using Stop Signs for Urban Autonomous Driving Applications
Yunhai Han, Yuhan Liu, David Paz +1
Calibration of sensors is fundamental to robust performance for intelligent vehicles. In natural environments, disturbances can easily challenge calibration. One possibility is to…