5 papers
KGCE: Knowledge-Augmented Dual-Graph Evaluator for Cross-Platform Educational Agent Benchmarking with Multimodal Language Models
Zixian Liu, Sihao Liu, Yuqi Zhao
With the rapid adoption of multimodal large language models (MLMs) in autonomous agents, cross-platform task execution capabilities in educational settings have garnered significan…
SPIDER: Scalable Physics-Informed Dexterous Retargeting
Chaoyi Pan, Changhao Wang, Haozhi Qi +7
Learning dexterous and agile policy for humanoid and dexterous hand control requires large-scale demonstrations, but collecting robot-specific data is prohibitively expensive. In c…
Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation
Carolina Higuera, Akash Sharma, Taosha Fan +8
We present Sparsh-X, the first multisensory touch representations across four tactile modalities: image, audio, motion, and pressure. Trained on ~1M contact-rich interactions colle…
Self-supervised perception for tactile skin covered dexterous hands
Akash Sharma, Carolina Higuera, Chaithanya Krishna Bodduluri +9
We present Sparsh-skin, a pre-trained encoder for magnetic skin sensors distributed across the fingertips, phalanges, and palm of a dexterous robot hand. Magnetic tactile skins off…
KUDA: Keypoints to Unify Dynamics Learning and Visual Prompting for Open-Vocabulary Robotic Manipulation
Zixian Liu, Mingtong Zhang, Yunzhu Li
With the rapid advancement of large language models (LLMs) and vision-language models (VLMs), significant progress has been made in developing open-vocabulary robotic manipulation…