4 papers · 1 filter
SEED-UMI: Sharing the Exoskeleton between human and robot for onE-to-one Dexterous demonstration
Tengbo Yu, Jiahao Wu, Daohan Li +4
Imitation learning for dexterous hands is bottlenecked by the difficulty of collecting contact-rich demonstrations that transfer faithfully to the robot. Prior wearable-exoskeleton…
PRISM: Precision and contact-rich Real-world Industrial Skill dataset with Multimodal sensing
Tengbo Yu, Jiahao Wu, Hanning Wang +4
Recent progress in robotic learning has been fueled by large-scale datasets collected in everyday environments. However, most existing datasets emphasize short-horizon, low-contact…
ManiGaussian++: General Robotic Bimanual Manipulation with Hierarchical Gaussian World Model
Tengbo Yu, Guanxing Lu, Zaijia Yang +7
Multi-task robotic bimanual manipulation is becoming increasingly popular as it enables sophisticated tasks that require diverse dual-arm collaboration patterns. Compared to uniman…
AnyBimanual: Transferring Unimanual Policy for General Bimanual Manipulation
Guanxing Lu, Tengbo Yu, Haoyuan Deng +3
Performing general language-conditioned bimanual manipulation tasks is of great importance for many applications ranging from household service to industrial assembly. However, col…