6 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…
Unified Agent: Managing Interactions across Devices
Xinshuang Liu, Runfa Blark Li, Shaoxiu Wei +2
As capabilities rapidly increase, AI agents can move from running inside one app to acting across a user's devices over time. Yet existing agent systems still fall short in this sc…
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…
HumanOrbit: 3D Human Reconstruction as 360° Orbit Generation
Keito Suzuki, Kunyao Chen, Lei Wang +5
We present a method for generating a full 360° orbit video around a person from a single input image. Existing methods typically adapt image-based diffusion models for multi-view s…
Consistency-Preserving Diverse Video Generation
Xinshuang Liu, Runfa Blark Li, Truong Nguyen
Text-to-video generation is expensive, so only a few samples are typically produced per prompt. In this low-sample regime, maximizing the value of each batch requires high cross-vi…