4 papers
Unified Motion-Action Modeling for Heterogeneous Robot Learning
Yunhao Cao, Shitong Liu, Chao Feng +4
We present Unified Motion-Action (UMA) Model, an approach that uses 3D object motion trajectories as a shared interface to bridge visuomotor control and dynamics modeling. UMA trea…
Cross-Sensor Touch Generation
Samanta Rodriguez, Yiming Dou, Miquel Oller +2
Today's visuo-tactile sensors come in many shapes and sizes, making it challenging to develop general-purpose tactile representations. This is because most models are tied to a spe…
Hearing Hands: Generating Sounds from Physical Interactions in 3D Scenes
Yiming Dou, Wonseok Oh, Yuqing Luo +2
We study the problem of making 3D scene reconstructions interactive by asking the following question: can we predict the sounds of human hands physically interacting with a scene?…
Contrastive Touch-to-Touch Pretraining
Samanta Rodriguez, Yiming Dou, William van den Bogert +4
Today's tactile sensors have a variety of different designs, making it challenging to develop general-purpose methods for processing touch signals. In this paper, we learn a unifie…