1 citations · 1 across the 14 of their papers we have counts for
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ACTS: Learning Visuo-Tactile World Models from Human Physical Interaction
Yuxiang Ma, Weihan Xu, Pengfei Ye +5
Abstract Action-conditioned world models for contact-rich manipulation require data that captures how contact forms, slides, and releases under varying force. Such data are slow to…
Robot Learning with Visual Predicted Force
Haonan Chen, Feiyang Wu, Yuxiang Ma +11
Force-aware manipulation typically relies on specialized force or tactile sensors. We show that force-aware manipulation can instead be achieved through visual force prediction fro…
GlowTact: Simple and Compact Vision-Based Tactile Sensing with High Sensitivity and Spatial Resolution
Yuxiang Ma, Megha Tippur, Pengfei Ye +4
Vision-based tactile sensors (VBTS) provide rich contact information for robotic manipulation, but existing designs can be hard to simplify and adapt to the size and constraints of…
A Durable Vision-Based Tactile Fingertip for Robotic Manipulation
F. Richard Cottrell, Megha H. Tippur, Edward H. Adelson
Currently available commercial vision-based tactile sensors provide rich contact information but remain vulnerable to abrasion and repeated concentrated loading, limiting their use…
You Only Touch Once: 6-DoF Object Pose Estimation from Single Tactile Contact
Pengfei Ye, Yuxiang Ma, Haonan Chen +5
Accurate 6-DoF object pose estimation is fundamental to robotic manipulation, yet vision-based methods often fail under occlusion, poor lighting, and reflective or transparent surf…
CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation
Haonan Chen, Yuxiang Ma, Stephen Tian +7
Long-horizon, contact-rich complex manipulation tasks, such as seating a GPU into a PCIe slot, demand both millimeter high precision and out-of-the-box generalization to new tasks.…
2D and 3D Grasp Planners for the GET Asymmetrical Gripper
Andrew Goldberg, Ethan Ransing, Anton Kourakin +3
In this paper, we introduce GET-2D-1.0, a fast grasp planner for the GET asymmetrical gripper that operates from a single-view RGB-D image, using the Ferrari-Canny metric and a nov…
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
Yiting Chen, Kenneth Kimble, Edward H. Adelson +20
Dexterous manipulation enables robots to purposefully alter the physical world, transforming them from passive observers into active agents in unstructured environments. This capab…