4 papers · 1 filter
Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithm
Zhao-Heng Yin, Changhao Wang, Luis Pineda +4
We introduce Geometric Retargeting (GeoRT), an ultrafast, and principled neural hand retargeting algorithm for teleoperation, developed as part of our recent Dexterity Gen (DexGen)…
DexterityGen: Foundation Controller for Unprecedented Dexterity
Zhao-Heng Yin, Changhao Wang, Luis Pineda +11
Teaching robots dexterous manipulation skills, such as tool use, presents a significant challenge. Current approaches can be broadly categorized into two strategies: human teleoper…
Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation
Sudharshan Suresh, Haozhi Qi, Tingfan Wu +9
To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, suc…
Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies
Carolina Higuera, Joseph Ortiz, Haozhi Qi +3
Robotic manipulation tasks such as object insertion typically involve interactions between object and environment, namely extrinsic contacts. Prior work on Neural Contact Fields (N…