6 papers
Hand-centric Human-to-Robot Trajectory Transfer from Video Demonstrations via Open-World Contact Localization
Yitian Shi, Di Wen, Zhengqi Han +6
Learning from human video demonstrations remains challenging due to noisy hand-object interactions, unseen objects with partial observation, and cross-embodiment discrepancy. To ad…
FlowCorrect: Efficient Interactive Correction of Generative Flow Policies for Robotic Manipulation
Edgar Welte, Yitian Shi, Rosa Wolf +2
Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and w…
HOGraspFlow: Taxonomy-Aware Hand-Object Retargeting for Multi-Modal SE(3) Grasp Generation
Yitian Shi, Zicheng Guo, Rosa Wolf +2
We propose Hand-Object\emph{(HO)GraspFlow}, an affordance-centric approach that retargets a single RGB with hand-object interaction (HOI) into multi-modal executable parallel jaw g…
Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey
Edgar Welte, Rania Rayyes
Dexterous manipulation is a crucial yet highly complex challenge in humanoid robotics, demanding precise, adaptable, and sample-efficient learning methods. As humanoid robots are u…
VISO-Grasp: Vision-Language Informed Spatial Object-centric 6-DoF Active View Planning and Grasping in Clutter and Invisibility
Yitian Shi, Di Wen, Guanqi Chen +5
We propose VISO-Grasp, a novel vision-language-informed system designed to systematically address visibility constraints for grasping in severely occluded environments. By leveragi…
vMF-Contact: Uncertainty-aware Evidential Learning for Probabilistic Contact-grasp in Noisy Clutter
Yitian Shi, Edgar Welte, Maximilian Gilles +1
Grasp learning in noisy environments, such as occlusions, sensor noise, and out-of-distribution (OOD) objects, poses significant challenges. Recent learning-based approaches focus…