5 citations · 9 across the 4 of their papers we have counts for
4 papers
Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers
Lirui Wang, Xinlei Chen, Jialiang Zhao +1
One of the roadblocks for training generalist robotic models today is heterogeneity. Previous robot learning methods often collect data to train with one specific embodiment for on…
GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation
Jialiang Zhao, Edward H. Adelson
This paper presents GelSight Svelte Hand, a novel 3-finger 2-DoF tactile robotic hand that is capable of performing precision grasps, power grasps, and intermediate grasps. Rich ta…
GelSight Svelte: A Human Finger-shaped Single-camera Tactile Robot Finger with Large Sensing Coverage and Proprioceptive Sensing
Jialiang Zhao, Edward H. Adelson
Camera-based tactile sensing is a low-cost, popular approach to obtain highly detailed contact geometry information. However, most existing camera-based tactile sensors are fingert…
FingerSLAM: Closed-loop Unknown Object Localization and Reconstruction from Visuo-tactile Feedback
Jialiang Zhao, Maria Bauza, Edward H. Adelson
In this paper, we address the problem of using visuo-tactile feedback for 6-DoF localization and 3D reconstruction of unknown in-hand objects. We propose FingerSLAM, a closed-loop…