4 papers
SoTa: Soft Tactile Skins for Dexterous Manipulation
Jingyun Yang, Baiyu Shi, Timothy Yu +6
A growing body of work suggests that tactile sensing gives robot policies contact information that complements vision in dexterous manipulation. However, visuo-tactile robot data r…
VisTacAlign: Co-Training Dexterous Policies on Tactile Human and Robot Demonstrations using Visual-Tactile Alignment
Julien Poffet, Matthew Strong, Ankush Dhawan +5
Human demonstrations are a cheap source of data for dexterous manipulation, but co-training a robot policy on them requires closing the human--robot gap in every modality the polic…
GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interaction
Qingzhou Lu, Yao Feng, Baiyu Shi +3
Humanoid robots are expected to operate in human-centered environments where safe and natural physical interaction is essential. However, most recent reinforcement learning (RL) po…
DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation
Suzannah Wistreich, Baiyu Shi, Stephen Tian +5
Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capa…