10 papers
PanTact: Teaching Whole-Body Dexterity with a Wearable Contact Interface
Xiaomeng Xu, Han Zhang, Zhian Ruan +6
Humanoid robots have many degrees of freedom and contact surfaces, yet most loco-manipulation research restricts manipulation to the hands and avoids other body contacts with the e…
Mixture of Frames Policy: Multi-Frame Action Denoising for Bimanual Mobile Manipulation
Dian Wang, Jisang Park, Xiaomeng Xu +3
Robotic manipulation is inherently multi-frame: local actions may be simple in an end-effector frame, while transport, upright-object handling, and whole-body coordination are bett…
PanoVine: Whole-Body Visuomotor Control for Soft Growing Vine Robot
Yimeng Qin, Xiaomeng Xu, William Heap +3
Vine robots, a class of soft, growing robots, are suitable for navigating complex and confined environments due to their compliant bodies and self-supporting growth mechanism. Howe…
EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
Ryan Punamiya, Simar Kareer, Zeyi Liu +37
Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternati…
HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations
Xiaomeng Xu, Jisang Park, Han Zhang +6
We present Whole-Body Mobile Manipulation Interface (HoMMI), a data collection and policy learning framework that learns whole-body mobile manipulation directly from robot-free hum…
In-the-Wild Compliant Manipulation with UMI-FT
Hojung Choi, Yifan Hou, Chuer Pan +5
Many manipulation tasks require careful force modulation. With insufficient force the task may fail, while excessive force could cause damage. The high cost, bulky size and fragili…
Vision in Action: Learning Active Perception from Human Demonstrations
Haoyu Xiong, Xiaomeng Xu, Jimmy Wu +3
We present Vision in Action (ViA), an active perception system for bimanual robot manipulation. ViA learns task-relevant active perceptual strategies (e.g., searching, tracking, an…
Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections
Xiaomeng Xu, Yifan Hou, Chendong Xin +2
We address key challenges in Dataset Aggregation (DAgger) for real-world contact-rich manipulation: how to collect informative human correction data and how to effectively update p…
RoboPanoptes: The All-seeing Robot with Whole-body Dexterity
Xiaomeng Xu, Dominik Bauer, Shuran Song
We present RoboPanoptes, a capable yet practical robot system that achieves whole-body dexterity through whole-body vision. Its whole-body dexterity allows the robot to utilize its…
Dynamics-Guided Diffusion Model for Sensor-less Robot Manipulator Design
Xiaomeng Xu, Huy Ha, Shuran Song
We present Dynamics-Guided Diffusion Model (DGDM), a data-driven framework for generating task-specific manipulator designs without task-specific training. Given object shapes and…