8 citations · 13 across the 22 of their papers we have counts for
5 papers · 1 filter
Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions
Kaifeng Zhang, Shuo Sha, Hanxiao Jiang +7
Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for task…
Spatially anchored Tactile Awareness for Robust Dexterous Manipulation
Jialei Huang, Yang Ye, Yuanqing Gong +3
Dexterous manipulation requires precise geometric reasoning, yet existing visuo-tactile learning methods struggle with sub-millimeter precision tasks that are routine for tradition…
ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
Liang Heng, Haoran Geng, Kaifeng Zhang +2
Dexterous manipulation is a cornerstone capability for robotic systems aiming to interact with the physical world in a human-like manner. Although vision-based methods have advance…
Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videos
Kaifeng Zhang, Baoyu Li, Kris Hauser +1
Modeling the dynamics of deformable objects is challenging due to their diverse physical properties and the difficulty of estimating states from limited visual information. We addr…
PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos
Hanxiao Jiang, Hao-Yu Hsu, Kaifeng Zhang +3
Creating a physical digital twin of a real-world object has immense potential in robotics, content creation, and XR. In this paper, we present PhysTwin, a novel framework that uses…