13 citations · 28 across the 27 of their papers we have counts for
7 papers · 1 filter
Digitizing Touch with an Artificial Multimodal Fingertip
Mike Lambeta, Tingfan Wu, Ali Sengul +20
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using…
Hand-Object Interaction Pretraining from Videos
Himanshu Gaurav Singh, Antonio Loquercio, Carmelo Sferrazza +4
We present an approach to learn general robot manipulation priors from 3D hand-object interaction trajectories. We build a framework to use in-the-wild videos to generate sensorimo…
A Learning-based Quadcopter Controller with Extreme Adaptation
Dingqi Zhang, Antonio Loquercio, Jerry Tang +3
This paper introduces a learning-based low-level controller for quadcopters, which adaptively controls quadcopters with significant variations in mass, size, and actuator capabilit…
Lessons from Learning to Spin "Pens"
Jun Wang, Ying Yuan, Haichuan Che +4
In-hand manipulation of pen-like objects is an important skill in our daily lives, as many tools such as hammers and screwdrivers are similarly shaped. However, current learning-ba…
Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing
Jessica Yin, Haozhi Qi, Jitendra Malik +3
Recent progress in reinforcement learning (RL) and tactile sensing has significantly advanced dexterous manipulation. However, these methods often utilize simplified tactile signal…
Learning Visuotactile Skills with Two Multifingered Hands
Toru Lin, Yu Zhang, Qiyang Li +4
Aiming to replicate human-like dexterity, perceptual experiences, and motion patterns, we explore learning from human demonstrations using a bimanual system with multifingered hand…
Twisting Lids Off with Two Hands
Toru Lin, Zhao-Heng Yin, Haozhi Qi +2
Manipulating objects with two multi-fingered hands has been a long-standing challenge in robotics, due to the contact-rich nature of many manipulation tasks and the complexity inhe…