5 papers
GROW: Grounding Which and Where for Robot Tool Use
Yuhong Deng, Yuyao Liu, David Hsu
Can the robot use a plate to cut a cake if no knife is available? Tool use greatly expands robot capabilities, but to use tools creatively beyond their intended functions, the robo…
CLASP: General-Purpose Clothes Manipulation with Semantic Keypoints
Yuhong Deng, Chao Tang, Cunjun Yu +2
Clothes manipulation, such as folding or hanging, is a critical capability for home service robots. Despite recent advances, most existing methods remain limited to specific clothe…
MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondence
Chao Tang, Anxing Xiao, Yuhong Deng +5
Imitating tool manipulation from human videos offers an intuitive approach to teaching robots, while also providing a promising and scalable alternative to labor-intensive teleoper…
General-purpose Clothes Manipulation with Semantic Keypoints
Yuhong Deng, David Hsu
Clothes manipulation is a critical capability for household robots; yet, existing methods are often confined to specific tasks, such as folding or flattening, due to the complex hi…
FUNCTO: Function-Centric One-Shot Imitation Learning for Tool Manipulation
Chao Tang, Anxing Xiao, Yuhong Deng +5
Learning tool use from a single human demonstration video offers a highly intuitive and efficient approach to robot teaching. While humans can effortlessly generalize a demonstrate…