14 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…
MotionBits: Video Segmentation through Motion-Level Analysis of Rigid Bodies
Howard H. Qian, Kejia Ren, Yu Xiang +2
Rigid bodies constitute the smallest manipulable elements in the real world, and understanding how they physically interact is fundamental to embodied reasoning and robotic manipul…
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
Yiting Chen, Kenneth Kimble, Edward H. Adelson +20
Dexterous manipulation enables robots to purposefully alter the physical world, transforming them from passive observers into active agents in unstructured environments. This capab…
Efficient Multi-Robot Motion Planning for Manifold-Constrained Manipulators by Randomized Scheduling and Informed Path Generation
Weihang Guo, Zachary Kingston, Kaiyu Hang +1
Multi-robot motion planning for high degree-of-freedom manipulators in shared, constrained, and narrow spaces is a complex problem and essential for many scenarios such as construc…