6 papers
FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation
Chengbo Yuan, Zicheng Zhang, Mingjie Zhou +14
Despite the success of vision-based generalist robotic policies, existing tactile-based policies remain tied to fixed embodiments and sensor setups. This is because tactile signals…
UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos
Gu Zhang, Qicheng Xu, Haozhe Zhang +16
Dexterous manipulation remains challenging due to the cost of collecting real-robot teleoperation data, the heterogeneity of hand embodiments, and the high dimensionality of contro…
RoboEngine: Plug-and-Play Robot Data Augmentation with Semantic Robot Segmentation and Background Generation
Chengbo Yuan, Suraj Joshi, Shaoting Zhu +3
Visual augmentation has become a crucial technique for enhancing the visual robustness of imitation learning. However, existing methods are often limited by prerequisites such as c…
Self-Supervised Monocular 4D Scene Reconstruction for Egocentric Videos
Chengbo Yuan, Geng Chen, Li Yi +1
Egocentric videos provide valuable insights into human interactions with the physical world, which has sparked growing interest in the computer vision and robotics communities. A c…
KineDex: Learning Tactile-Informed Visuomotor Policies via Kinesthetic Teaching for Dexterous Manipulation
Di Zhang, Chengbo Yuan, Chuan Wen +3
Collecting demonstrations enriched with fine-grained tactile information is critical for dexterous manipulation, particularly in contact-rich tasks that require precise force contr…
FP3: A 3D Foundation Policy for Robotic Manipulation
Rujia Yang, Geng Chen, Chuan Wen +1
Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential…