8 papers
UniForce: A Unified Latent Force Model for Robot Manipulation with Diverse Tactile Sensors
Zhuo Chen, Fei Ni, Kaiyao Luo +7
Force sensing is essential for dexterous robot manipulation, but scaling force-aware policy learning is hindered by the heterogeneity of tactile sensors. Differences in sensing pri…
UniMorphGrasp: Diffusion Model with Morphology-Awareness for Cross-Embodiment Dexterous Grasp Generation
Zhiyuan Wu, Xiangyu Zhang, Zhuo Chen +3
Cross-embodiment dexterous grasping aims to generate stable and diverse grasps for robotic hands with heterogeneous kinematic structures. Existing methods are often tailored to spe…
MagicSkin: Balancing Marker and Markerless Modes in Vision-Based Tactile Sensors with a Translucent Skin
Oluwatimilehin Tijani, Zhuo Chen, Jiankang Deng +1
Vision-based tactile sensors (VBTS) face a fundamental trade-off in marker and markerless design on the tactile skin: opaque ink markers enable measurement of force and tangential…
Force-Aware 3D Contact Modeling for Stable Grasp Generation
Zhuo Chen, Zhongqun Zhang, Yihua Cheng +2
Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse han…
ViTacGen: Robotic Pushing with Vision-to-Touch Generation
Zhiyuan Wu, Yijiong Lin, Yongqiang Zhao +4
Robotic pushing is a fundamental manipulation task that requires tactile feedback to capture subtle contact forces and dynamics between the end-effector and the object. However, re…
Iterative Camera-LiDAR Extrinsic Optimization via Surrogate Diffusion
Ni Ou, Zhuo Chen, Xinru Zhang +1
Cameras and LiDAR are essential sensors for autonomous vehicles. The fusion of camera and LiDAR data addresses the limitations of individual sensors but relies on precise extrinsic…