5 citations · 12 across the 10 of their papers we have counts for
11 papers
Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning
Xinqi Lucas Liu, Ruoxi Hu, Alejandro Ojeda Olarte +6
Lack of accessible and dexterous robot hardware has been a significant bottleneck to achieving human-level dexterity in robots. Last year, we released Ruka, a fully open-sourced, t…
Touch begins where vision ends: Generalizable policies for contact-rich manipulation
Zifan Zhao, Siddhant Haldar, Jinda Cui +2
Data-driven approaches struggle with precise manipulation; imitation learning requires many hard-to-obtain demonstrations, while reinforcement learning yields brittle, non-generali…
eFlesh: Highly customizable Magnetic Touch Sensing using Cut-Cell Microstructures
Venkatesh Pattabiraman, Zizhou Huang, Daniele Panozzo +3
If human experience is any guide, operating effectively in unstructured environments -- like homes and offices -- requires robots to sense the forces during physical interaction. Y…
EgoZero: Robot Learning from Smart Glasses
Vincent Liu, Ademi Adeniji, Haotian Zhan +4
Despite recent progress in general purpose robotics, robot policies still lag far behind basic human capabilities in the real world. Humans interact constantly with the physical wo…
Feel the Force: Contact-Driven Learning from Humans
Ademi Adeniji, Zhuoran Chen, Vincent Liu +5
Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they st…
Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewards
Irmak Guzey, Yinlong Dai, Georgy Savva +2
Training robots directly from human videos is an emerging area in robotics and computer vision. While there has been notable progress with two-fingered grippers, learning autonomou…
Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins
Venkatesh Pattabiraman, Yifeng Cao, Siddhant Haldar +2
While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about p…
AnySkin: Plug-and-play Skin Sensing for Robotic Touch
Raunaq Bhirangi, Venkatesh Pattabiraman, Enes Erciyes +3
While tactile sensing is widely accepted as an important and useful sensing modality, its use pales in comparison to other sensory modalities like vision and proprioception. AnySki…
Hierarchical State Space Models for Continuous Sequence-to-Sequence Modeling
Raunaq Bhirangi, Chenyu Wang, Venkatesh Pattabiraman +4
Reasoning from sequences of raw sensory data is a ubiquitous problem across fields ranging from medical devices to robotics. These problems often involve using long sequences of ra…
All the Feels: A dexterous hand with large-area tactile sensing
Raunaq Bhirangi, Abigail DeFranco, Jacob Adkins +4
High cost and lack of reliability has precluded the widespread adoption of dexterous hands in robotics. Furthermore, the lack of a viable tactile sensor capable of sensing over the…
ReSkin: versatile, replaceable, lasting tactile skins
Raunaq Bhirangi, Tess Hellebrekers, Carmel Majidi +1
Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from th…