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cs.RO2024
Bimanual In-hand Manipulation using Dual Limit Surfaces
An Dang, James Lorenz, Xili Yi +1
In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration,…
cs.RO2024
Visual-auditory Extrinsic Contact Estimation
Xili Yi, Jayjun Lee, Nima Fazeli
Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are…