27 citations · 71 across the 15 of their papers we have counts for
10 papers · 1 filter
9DTact: A Compact Vision-Based Tactile Sensor for Accurate 3D Shape Reconstruction and Generalizable 6D Force Estimation
Changyi Lin, Han Zhang, Jikai Xu +2
The advancements in vision-based tactile sensors have boosted the aptitude of robots to perform contact-rich manipulation, particularly when precise positioning and contact state o…
ArrayBot: Reinforcement Learning for Generalizable Distributed Manipulation through Touch
Zhengrong Xue, Han Zhang, Jingwen Cheng +5
We present ArrayBot, a distributed manipulation system consisting of a array of vertically sliding pillars integrated with tactile sensors, which can simultaneously…
RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools
Haochen Shi, Huazhe Xu, Samuel Clarke +2
Humans excel in complex long-horizon soft body manipulation tasks via flexible tool use: bread baking requires a knife to slice the dough and a rolling pin to flatten it. Often reg…
See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation
Hao Li, Yizhi Zhang, Junzhe Zhu +7
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two mo…
Extraneousness-Aware Imitation Learning
Ray Chen Zheng, Kaizhe Hu, Zhecheng Yuan +2
Visual imitation learning provides an effective framework to learn skills from demonstrations. However, the quality of the provided demonstrations usually significantly affects the…
DTact: A Vision-Based Tactile Sensor that Measures High-Resolution 3D Geometry Directly from Darkness
Changyi Lin, Ziqi Lin, Shaoxiong Wang +1
Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors ar…
USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for Generalizable Manipulation
Zhengrong Xue, Zhecheng Yuan, Jiashun Wang +3
Can a robot manipulate intra-category unseen objects in arbitrary poses with the help of a mere demonstration of grasping pose on a single object instance? In this paper, we try to…
RoboCraft: Learning to See, Simulate, and Shape Elasto-Plastic Objects with Graph Networks
Haochen Shi, Huazhe Xu, Zhiao Huang +2
Modeling and manipulating elasto-plastic objects are essential capabilities for robots to perform complex industrial and household interaction tasks (e.g., stuffing dumplings, roll…
Towards Learning to Play Piano with Dexterous Hands and Touch
Huazhe Xu, Yuping Luo, Shaoxiong Wang +2
The virtuoso plays the piano with passion, poetry and extraordinary technical ability. As Liszt said (a virtuoso)must call up scent and blossom, and breathe the breath of life. The…
PyTouch: A Machine Learning Library for Touch Processing
Mike Lambeta, Huazhe Xu, Jingwei Xu +4
With the increased availability of rich tactile sensors, there is an equally proportional need for open-source and integrated software capable of efficiently and effectively proces…