1 citations · 2 across the 10 of their papers we have counts for
11 papers
T-Rex: Tactile-Reactive Dexterous Manipulation
Dantong Niu, Zhuoyang Liu, Zekai Wang +31
The ability to react dynamically to tactile signals has long been considered crucial to agile human-level dexterity. Yet contemporary learning-based Vision-Language-Action (VLA) mo…
Mana: Dexterous Manipulation of Articulated Tools
Zhao-Heng Yin, Guanya Shi, Pieter Abbeel +1
Articulated tool manipulation remains a major challenge in dexterous robotics due to the need to coordinate internal degrees of freedom and contact-rich interactions. While prior w…
How to Peel with a Knife: Aligning Fine-Grained Manipulation with Human Preference
Toru Lin, Shuying Deng, Zhao-Heng Yin +2
Many essential manipulation tasks - such as food preparation, surgery, and craftsmanship - remain intractable for autonomous robots. These tasks are characterized not only by conta…
Lightning Grasp: High Performance Procedural Grasp Synthesis with Contact Fields
Zhao-Heng Yin, Pieter Abbeel
Despite years of research, real-time diverse grasp synthesis for dexterous hands remains an unsolved core challenge in robotics and computer graphics. We present Lightning Grasp, a…
Object-centric 3D Motion Field for Robot Learning from Human Videos
Zhao-Heng Yin, Sherry Yang, Pieter Abbeel
Learning robot control policies from human videos is a promising direction for scaling up robot learning. However, how to extract action knowledge (or action representations) from…
FastTD3: Simple, Fast, and Capable Reinforcement Learning for Humanoid Control
Younggyo Seo, Carmelo Sferrazza, Haoran Geng +3
Reinforcement learning (RL) has driven significant progress in robotics, but its complexity and long training times remain major bottlenecks. In this report, we introduce FastTD3,…