10 papers · 1 filter
ForceBand: Learning Forceful Manipulation with sEMG
Botao He, Zhi Wang, Linna Kuang +8
Human demonstrations are a scalable data source for learning robot manipulation policies. However, common sources of human demonstration data, such as motion-capture trajectories a…
HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos
Zhi Wang, Botao He, Kelin Yu +4
Human egocentric video captures rich manipulation demonstrations without any robot hardware, yet transferring these skills to robots remains challenging due to the embodiment gap b…
Adversarial Game-Theoretic Algorithm for Dexterous Grasp Synthesis
Yu Chen, Botao He, Yuemin Mao +7
For many complex tasks, multi-finger robot hands are poised to revolutionize how we interact with the world, but reliably grasping objects remains a significant challenge. We focus…
NavMoE: Hybrid Model- and Learning-based Traversability Estimation for Local Navigation via Mixture of Experts
Botao He, Amir Hossein Shahidzadeh, Yu Chen +8
This paper explores traversability estimation for robot navigation. A key bottleneck in traversability estimation lies in efficiently achieving reliable and robust predictions whil…
Search-Based Path Planning in Interactive Environments among Movable Obstacles
Zhongqiang Ren, Bunyod Suvonov, Guofei Chen +4
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the ro…
Air-FAR: Fast and Adaptable Routing for Aerial Navigation in Large-scale Complex Unknown Environments
Botao He, Guofei Chen, Cornelia Fermuller +2
This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addre…