12 citations · 13 across the 6 of their papers we have counts for
6 papers · 1 filter
Fingers as Legs: Learning Self-Supported Locomotion and Manipulation with an Anthropomorphic Hand
Amirhossein Kazemipour, Hehui Zheng, Robert Katzschmann
A walking robotic hand must use the same fingers to move its body, support its weight, and interact with the environment. We show how an anthropomorphic hand can learn these skills…
SERNF: Sample-Efficient Real-World Dexterous Policy Fine-Tuning via Action-Chunked Critics and Normalizing Flows
Chenyu Yang, Denis Tarasov, Davide Liconti +3
Real-world fine-tuning of dexterous manipulation policies remains challenging due to limited real-world interaction budgets and highly multimodal action distributions. Diffusion-ba…
Learning Soft Robotic Dynamics with Active Exploration
Hehui Zheng, Bhavya Sukhija, Chenhao Li +3
Soft robots offer unmatched adaptability and safety in unstructured environments, yet their compliant, high-dimensional, and nonlinear dynamics make modeling for control notoriousl…
PokeFlex: A Real-World Dataset of Volumetric Deformable Objects for Robotics
Jan Obrist, Miguel Zamora, Hehui Zheng +5
Data-driven methods have shown great potential in solving challenging manipulation tasks; however, their application in the domain of deformable objects has been constrained, in pa…
PokeFlex: Towards a Real-World Dataset of Deformable Objects for Robotic Manipulation
Jan Obrist, Miguel Zamora, Hehui Zheng +3
Advancing robotic manipulation of deformable objects can enable automation of repetitive tasks across multiple industries, from food processing to textiles and healthcare. Yet robo…
Vision-Based Online Key Point Estimation of Deformable Robots
Hehui Zheng, Sebastian Pinzello, Barnabas Gavin Cangan +2
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reco…