8 papers
TactX: Learning Shared Tactile Representations Across Diverse Sensors
Junsung Park, Sachin Bhadang, Carmelo Sferrazza +2
Tactile sensors provide critical information for contact-rich manipulation, yet tactile representations and policies remain tightly coupled to each specific sensor, limiting transf…
Generating Robot Hands from Human Demonstrations
Sha Yi, Nicklas Hansen, Xueqian Bai +3
Robot learning has advanced rapidly in learning control, but learning the physical body of a robot remains much more difficult because jointly searching over design and control cre…
TacO: Benchmarking Tactile Sensors for Object Manipulation
Anya Zorin, Zilin Si, Myungsun Park +11
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insuffi…
Contact-Aware Neural Dynamics
Changwei Jing, Jai Krishna Bandi, Jianglong Ye +4
High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous in…
House of Dextra: Cross-embodied Co-design for Dexterous Hands
Kehlani Fay, Darin Anthony Djapri, Anya Zorin +6
Dexterous manipulation is limited by both control and design, without consensus as to what makes manipulators best for performing dexterous tasks. This raises a fundamental challen…
Learning to Design Soft Hands using Reward Models
Xueqian Bai, Nicklas Hansen, Adabhav Singh +5
Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse…
Object Pose Estimation through Dexterous Touch
Amir-Hossein Shahidzadeh, Jiyue Zhu, Kezhou Chen +4
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occl…
Co-Design of Soft Gripper with Neural Physics
Sha Yi, Xueqian Bai, Adabhav Singh +3
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper…