5 papers
PatternDex: Learning Interaction Patterns to Guide Reinforcement Learning of Bimanual Dexterous Manipulation of Articulated Objects
David Minkwan Kim, Runfa Blark Li, Beckham Po-Ju Lee +2
In this paper, we develop a method that enables bimanual dexterous hands to manipulate articulated objects with a high success rate without suffering from an embodiment gap. We obs…
PhysGraph: Physically-Grounded Graph-Transformer Policies for Bimanual Dexterous Hand-Tool-Object Manipulation
Runfa Blark Li, David Kim, Xinshuang Liu +7
Bimanual dexterous manipulation for tool use remains a formidable challenge in robotics due to the high-dimensional state space and complicated contact dynamics. Existing methods n…
A Shared-Autonomy Construction Robotic System for Overhead Works
David Minkwan Kim, K. M. Brian Lee, Yong Hyeok Seo +11
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a b…
Single GPU Task Adaptation of Pathology Foundation Models for Whole Slide Image Analysis
Neeraj Kumar, Swaraj Nanda, Siddharth Singi +7
Pathology foundation models (PFMs) have emerged as powerful tools for analyzing whole slide images (WSIs). However, adapting these pretrained PFMs for specific clinical tasks prese…
Krysalis Hand: A Lightweight, High-Payload, 18-DoF Anthropomorphic End-Effector for Robotic Learning and Dexterous Manipulation
Al Arsh Basheer, Justin Chang, Yuyang Chen +2
This paper presents the Krysalis Hand, a five-finger robotic end-effector that combines a lightweight design, high payload capacity, and a high number of degrees of freedom (DoF) t…