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cs.RO2024★ 1 cited
InterACT: Inter-dependency Aware Action Chunking with Hierarchical Attention Transformers for Bimanual Manipulation
Andrew Lee, Ian Chuang, Ling-Yuan Chen +1
Bimanual manipulation presents unique challenges compared to unimanual tasks due to the complexity of coordinating two robotic arms. In this paper, we introduce InterACT: Inter-dep…
cs.RO2024
LEMMo-Plan: LLM-Enhanced Learning from Multi-Modal Demonstration for Planning Sequential Contact-Rich Manipulation Tasks
Kejia Chen, Zheng Shen, Yue Zhang +5
Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and…
cs.RO2024
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation
Yansong Wu, Zongxie Chen, Fan Wu +6
Assembly is a crucial skill for robots in both modern manufacturing and service robotics. However, mastering transferable insertion skills that can handle a variety of high-precisi…