4 papers
HumanoidExo: Scalable Whole-Body Humanoid Manipulation via Wearable Exoskeleton
Rui Zhong, Yizhe Sun, Junjie Wen +7
A significant bottleneck in humanoid policy learning is the acquisition of large-scale, diverse datasets, as collecting reliable real-world data remains both difficult and cost-pro…
Dual-Arm Hierarchical Planning for Laboratory Automation: Vibratory Sieve Shaker Operations
Haoran Xiao, Xue Wang, Huimin Lu +5
This paper addresses the challenges of automating vibratory sieve shaker operations in a materials laboratory, focusing on three critical tasks: 1) dual-arm lid manipulation in 3 c…
Grasp Like Humans: Learning Generalizable Multi-Fingered Grasping from Human Proprioceptive Sensorimotor Integration
Ce Guo, Xieyuanli Chen, Zhiwen Zeng +5
Tactile and kinesthetic perceptions are crucial for human dexterous manipulation, enabling reliable grasping of objects via proprioceptive sensorimotor integration. For robotic han…
NuExo: A Wearable Exoskeleton Covering all Upper Limb ROM for Outdoor Data Collection and Teleoperation of Humanoid Robots
Rui Zhong, Chuang Cheng, Junpeng Xu +5
The evolution from motion capture and teleoperation to robot skill learning has emerged as a hotspot and critical pathway for advancing embodied intelligence. However, existing sys…