7 papers · 1 filter
FORCA: A Force-Aware Coding Agent for Contact-Rich Robot Manipulation
Xiao Tan, Yixuan Wang, Zhexi Wang +1
Coding agents can translate language instructions into robot programs. For contact-rich manipulation, a key challenge is to generate and refine control logic that responds to physi…
Tactile-Based Robotic Manipulation: From Mechanics-Driven to Data-Driven Perspectives
Jingyi Xiang, Yixuan Wang, Wenzhen Yuan
Tactile sensing provides robots with direct access to physical interactions at the contact interface, making it a critical modality for robust and dexterous manipulation. Over the…
A Perception-Manipulation Robotics System for Food Cutting
Xinyuan Luo, Wenzhen Yuan
In the development of cooking robots, mastering the task of cutting is crucial. A significant challenge lies in the diverse properties of food, which necessitate distinct cutting p…
GelSLAM: A Real-time, High-Fidelity, and Robust 3D Tactile SLAM System
Hung-Jui Huang, Mohammad Amin Mirzaee, Michael Kaess +1
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in p…
FusionSense: Bridging Common Sense, Vision, and Touch for Robust Sparse-View Reconstruction
Irving Fang, Kairui Shi, Xujin He +7
Humans effortlessly integrate common-sense knowledge with sensory input from vision and touch to understand their surroundings. Emulating this capability, we introduce FusionSense,…
An Intelligent Robotic System for Perceptive Pancake Batter Stirring and Precise Pouring
Xinyuan Luo, Shengmiao Jin, Hung-Jui Huang +1
Cooking robots have long been desired by the commercial market, while the technical challenge is still significant. A major difficulty comes from the demand of perceiving and handl…
Kitchen Artist: Precise Control of Liquid Dispensing for Gourmet Plating
Hung-Jui Huang, Jingyi Xiang, Wenzhen Yuan
Manipulating liquid is widely required for many tasks, especially in cooking. A common way to address this is extruding viscous liquid from a squeeze bottle. In this work, our goal…