5 citations · 10 across the 7 of their papers we have counts for
8 papers
Heterogeneous Tactile Transformer
Jianxin Bi, Qiang Wang, Jayaram Reddy +4
Tactile sensors are inherently heterogeneous: a model trained on one sensor cannot be directly used on another, which limits learning contact-rich manipulation policies from divers…
Guided Streaming Stochastic Interpolant Policy
Puming Jiang, Meiyi Wang, Kelvin Lin +2
Inference-time guidance is essential for steering generative robot policies toward dynamic objectives without retraining, yet existing methods are largely confined to chunk-based a…
OpenRoboCare: A Multimodal Multi-Task Expert Demonstration Dataset for Robot Caregiving
Xiaoyu Liang, Ziang Liu, Kelvin Lin +10
We present OpenRoboCare, a multimodal dataset for robot caregiving, capturing expert occupational therapist demonstrations of Activities of Daily Living (ADLs). Caregiving tasks in…
Demonstrating the Octopi-1.5 Visual-Tactile-Language Model
Samson Yu, Kelvin Lin, Harold Soh
Touch is recognized as a vital sense for humans and an equally important modality for robots, especially for dexterous manipulation, material identification, and scenarios involvin…
Octopi: Object Property Reasoning with Large Tactile-Language Models
Samson Yu, Kelvin Lin, Anxing Xiao +2
Physical reasoning is important for effective robot manipulation. Recent work has investigated both vision and language modalities for physical reasoning; vision can reveal informa…
DISCO: Language-Guided Manipulation with Diffusion Policies and Constrained Inpainting
Ce Hao, Kelvin Lin, Zhiwei Xue +2
Diffusion policies have demonstrated strong performance in generative modeling, making them promising for robotic manipulation guided by natural language instructions. However, gen…
Don't Start from Scratch: Behavioral Refinement via Interpolant-based Policy Diffusion
Kaiqi Chen, Eugene Lim, Kelvin Lin +2
Imitation learning empowers artificial agents to mimic behavior by learning from demonstrations. Recently, diffusion models, which have the ability to model high-dimensional and mu…
GRaCE: Balancing Multiple Criteria to Achieve Stable, Collision-Free, and Functional Grasps
Tasbolat Taunyazov, Kelvin Lin, Harold Soh
This paper addresses the multi-faceted problem of robot grasping, where multiple criteria may conflict and differ in importance. We introduce a probabilistic framework, Grasp Ranki…