5 citations · 12 across the 10 of their papers we have counts for
10 papers · 1 filter
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…
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…