2 citations · 3 across the 8 of their papers we have counts for
9 papers
Learning with Object-centric Representations of Tactile Interactive Perception for Robot Manipulation
Xinyi Yang, Zilin Si, Zhuowei Xu +2
Implicit object properties that are difficult to directly infer from vision, such as material, container contents, or softness, can be revealed through tactile sensing and explorat…
Inference-time Policy Steering via Vision and Touch
Yilin Wu, Zilin Si, Zeynep Temel +2
Inference-time steering adapts pre-trained generative robot policies during deployment by verifying candidate actions before execution. While prior methods typically perform this v…
TacO: Benchmarking Tactile Sensors for Object Manipulation
Anya Zorin, Zilin Si, Myungsun Park +11
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insuffi…
PuffyBot: An Untethered Shape Morphing Robot for Multi-environment Locomotion
Shashwat Singh, Zilin Si, Zeynep Temel
Amphibians adapt their morphologies and motions to accommodate movement in both terrestrial and aquatic environments. Inspired by these biological features, we present PuffyBot, an…
A multi-modal tactile fingertip design for robotic hands to enhance dexterous manipulation
Zhuowei Xu, Zilin Si, Kevin Zhang +2
Tactile sensing is critical for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing and inte…
ExoStart: Efficient learning for dexterous manipulation with sensorized exoskeleton demonstrations
Zilin Si, Jose Enrique Chen, M. Emre Karagozler +15
Recent advancements in teleoperation systems have enabled high-quality data collection for robotic manipulators, showing impressive results in learning manipulation at scale. This…
Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand
Zilin Si, Kevin Lee Zhang, Zeynep Temel +1
Dexterous robotic manipulation remains a challenging domain due to its strict demands for precision and robustness on both hardware and software. While dexterous robotic hands have…
DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation
Zilin Si, Gu Zhang, Qingwei Ben +4
We introduce DIFFTACTILE, a physics-based differentiable tactile simulation system designed to enhance robotic manipulation with dense and physically accurate tactile feedback. In…
DELTAHANDS: A Synergistic Dexterous Hand Framework Based on Delta Robots
Zilin Si, Kevin Zhang, Oliver Kroemer +1
Dexterous robotic manipulation in unstructured environments can aid in everyday tasks such as cleaning and caretaking. Anthropomorphic robotic hands are highly dexterous and theore…