1 citations · 2 across the 7 of their papers we have counts for
7 papers
ExoGS: A 4D Real-to-Sim-to-Real Framework for Scalable Manipulation Data Collection
Yiming Wang, Ruogu Zhang, Minyang Li +7
Real-to-Sim-to-Real technique is gaining increasing interest for robotic manipulation, as it can generate scalable data in simulation while having narrower sim-to-real gap. However…
ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation
Wenhai Liu, Junbo Wang, Yiming Wang +2
In most contact-rich manipulation tasks, humans apply time-varying forces to the target object, compensating for inaccuracies in the vision-guided hand trajectory. However, current…
UniAff: A Unified Representation of Affordances for Tool Usage and Articulation with Vision-Language Models
Qiaojun Yu, Siyuan Huang, Xibin Yuan +9
Previous studies on robotic manipulation are based on a limited understanding of the underlying 3D motion constraints and affordances. To address these challenges, we propose a com…
ManiPose: A Comprehensive Benchmark for Pose-aware Object Manipulation in Robotics
Qiaojun Yu, Ce Hao, Junbo Wang +6
Robotic manipulation in everyday scenarios, especially in unstructured environments, requires skills in pose-aware object manipulation (POM), which adapts robots' grasping and hand…
RPMArt: Towards Robust Perception and Manipulation for Articulated Objects
Junbo Wang, Wenhai Liu, Qiaojun Yu +4
Articulated objects are commonly found in daily life. It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world roboti…
GAMMA: Generalizable Articulation Modeling and Manipulation for Articulated Objects
Qiaojun Yu, Junbo Wang, Wenhai Liu +5
Articulated objects like cabinets and doors are widespread in daily life. However, directly manipulating 3D articulated objects is challenging because they have diverse geometrical…
RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot
Hao-Shu Fang, Hongjie Fang, Zhenyu Tang +5
A key challenge in robotic manipulation in open domains is how to acquire diverse and generalizable skills for robots. Recent research in one-shot imitation learning has shown prom…