1 citations · 2 across the 5 of their papers we have counts for
7 papers
Equivariant Visual-Tactile Diffusion Policy for Contact-Rich Manipulation
Lik Hang Kenny Wong, Yiyao Ma, Xiu-Shen Wei +5
Imitation learning for contact-rich manipulation requires high-quality expert data that is expensive to obtain. This makes learning a sample-efficient policy a key issue. To addres…
Geometry-Guided Modeling of Foundation Features Enables Generalizable Object Shape Deformation Learning
Yiyao Ma, Kai Chen, Zhongxiang Zhou +5
Monocular 3D shape recovery is fundamental to geometric understanding, yet achieving robust generalization across arbitrary viewpoints and unseen object categories remains a signif…
Real-time Monocular 2D and 3D Perception of Endoluminal Scenes for Controlling Flexible Robotic Endoscopic Instruments
Ruofeng Wei, Kai Chen, Yui Lun Ng +7
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robot…
Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generation
Yiyao Ma, Kai Chen, Kexin Zheng +1
Dexterous grasp generation is a fundamental challenge in robotics, requiring both grasp stability and adaptability across diverse objects and tasks. Analytical methods ensure stabl…
Enhanced Scale-aware Depth Estimation for Monocular Endoscopic Scenes with Geometric Modeling
Ruofeng Wei, Bin Li, Kai Chen +3
Scale-aware monocular depth estimation poses a significant challenge in computer-aided endoscopic navigation. However, existing depth estimation methods that do not consider the ge…
Any-point Trajectory Modeling for Policy Learning
Chuan Wen, Xingyu Lin, John So +4
Learning from demonstration is a powerful method for teaching robots new skills, and having more demonstration data often improves policy learning. However, the high cost of collec…
RGBManip: Monocular Image-based Robotic Manipulation through Active Object Pose Estimation
Boshi An, Yiran Geng, Kai Chen +3
Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this con…