4 papers · 1 filter
PatternDex: Learning Interaction Patterns to Guide Reinforcement Learning of Bimanual Dexterous Manipulation of Articulated Objects
David Minkwan Kim, Runfa Blark Li, Beckham Po-Ju Lee +2
In this paper, we develop a method that enables bimanual dexterous hands to manipulate articulated objects with a high success rate without suffering from an embodiment gap. We obs…
DexFuture: Hierarchical Future-State Visuomotor Targeting for Bimanual Dexterous Tool Use
Runfa Blark Li, Kuang-Ting Tu, Nikola Raicevic +6
Bimanual dexterous tool use remains challenging for robots due to high-dimensional hand configurations and complex hand-tool-object dynamics and contact. Most existing control poli…
PhysGraph: Physically-Grounded Graph-Transformer Policies for Bimanual Dexterous Hand-Tool-Object Manipulation
Runfa Blark Li, David Kim, Xinshuang Liu +7
Bimanual dexterous manipulation for tool use remains a formidable challenge in robotics due to the high-dimensional state space and complicated contact dynamics. Existing methods n…
A Shared-Autonomy Construction Robotic System for Overhead Works
David Minkwan Kim, K. M. Brian Lee, Yong Hyeok Seo +11
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a b…