6 papers
EgoInfinity: A Web-Scale 4D Hand-Object Interaction Data Engine for Any-View Robot Retargeting and Video-to-Action Robot Learning
Gaotian Wang, Kejia Ren, Andrew Morgan +4
Internet videos constitute the largest reservoir of embodied human manipulation knowledge, yet converting arbitrary RGB footage into actionable robot training data remains a major…
Zero-Shot Sim-to-Real Robot Learning: A Dexterous Manipulation Study on Reactive Catching
Kejia Ren, Gaotian Wang, Andrew S. Morgan +1
Dexterous manipulation is physics-intensive and highly sensitive to modeling errors and perception noise, making sim-to-real transfer prohibitively challenging. Domain randomizatio…
ManiDreams: An Open-Source Library for Robust Object Manipulation via Uncertainty-aware Task-specific Intuitive Physics
Gaotian Wang, Kejia Ren, Andrew S. Morgan +1
Dynamics models, whether simulators or learned world models, have long been central to robotic manipulation, but most focus on minimizing prediction error rather than confronting a…
Object-Centric Kinodynamic Planning for Nonprehensile Robot Rearrangement Manipulation
Kejia Ren, Gaotian Wang, Andrew S. Morgan +2
Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. Many traditional methods generate robot-centric actions, which differ from int…
Collision-Inclusive Manipulation Planning for Occluded Object Grasping via Compliant Robot Motions
Kejia Ren, Gaotian Wang, Andrew S. Morgan +1
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that ca…
Caging in Time: A Framework for Robust Object Manipulation under Uncertainties and Limited Robot Perception
Gaotian Wang, Kejia Ren, Andrew S. Morgan +1
Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based mani…