7 papers
VibeAct: Vibration to Actions for Contact-Rich Reactive Robot Dexterity
Yuemin Mao, Uksang Yoo, Jean Oh +2
Dexterous manipulation depends on contact events that are fast, local, and often visually occluded. Piezoelectric microphones provide compact, high-bandwidth sensing of these inter…
A-SLIP: Acoustic Sensing for Continuous In-hand Slip Estimation
Uksang Yoo, Yuemin Mao, Jean Oh +1
Reliable in-hand manipulation requires accurate real-time estimation of slip between a gripper and a grasped object. Existing tactile sensing approaches based on vision, capacitanc…
Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation
Arthur Jakobsson, Abhinav Mahajan, Karthik Pullalarevu +6
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. We introduce Wiggle and Go!, a two-stage framework…
Adversarial Game-Theoretic Algorithm for Dexterous Grasp Synthesis
Yu Chen, Botao He, Yuemin Mao +7
For many complex tasks, multi-finger robot hands are poised to revolutionize how we interact with the world, but reliably grasping objects remains a significant challenge. We focus…
Visuo-Acoustic Hand Pose and Contact Estimation
Yuemin Mao, Uksang Yoo, Yunchao Yao +5
Accurately estimating hand pose and hand-object contact events is essential for robot data-collection, immersive virtual environments, and biomechanical analysis, yet remains chall…
Hearing the Slide: Acoustic-Guided Constraint Learning for Fast Non-Prehensile Transport
Yuemin Mao, Bardienus P. Duisterhof, Moonyoung Lee +1
Object transport tasks are fundamental in robotic automation, emphasizing the importance of efficient and secure methods for moving objects. Non-prehensile transport can significan…
Residual-NeRF: Learning Residual NeRFs for Transparent Object Manipulation
Bardienus P. Duisterhof, Yuemin Mao, Si Heng Teng +1
Transparent objects are ubiquitous in industry, pharmaceuticals, and households. Grasping and manipulating these objects is a significant challenge for robots. Existing methods hav…