4 papers
GOTT: Object-centric Dexterous Manipulation with a Reusable Cross-Embodiment Primitive
Yulin Liu, Lai Wei, Yen-Jen Wang +4
Foundation models and large-scale human data provide rich sources of manipulation intent, but translating this intent into multi-fingered robot behavior remains difficult. Dexterou…
In-N-On: Scaling Egocentric Manipulation with in-the-wild and on-task Data
Xiongyi Cai, Ri-Zhao Qiu, Geng Chen +5
Egocentric videos are a valuable and scalable data source to learn manipulation policies. However, due to significant data heterogeneity, most existing approaches utilize human dat…
HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation
Lai Wei, Xuanbin Peng, Ri-Zhao Qiu +3
Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics of…
From Power to Precision: Learning Fine-grained Dexterity for Multi-fingered Robotic Hands
Jianglong Ye, Lai Wei, Guangqi Jiang +3
Human grasps can be roughly categorized into two types: power grasps and precision grasps. Precision grasping enables tool use and is believed to have influenced human evolution. T…