4 papers
You Only Touch Once: 6-DoF Object Pose Estimation from Single Tactile Contact
Pengfei Ye, Yuxiang Ma, Haonan Chen +5
Accurate 6-DoF object pose estimation is fundamental to robotic manipulation, yet vision-based methods often fail under occlusion, poor lighting, and reflective or transparent surf…
CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation
Haonan Chen, Yuxiang Ma, Stephen Tian +7
Long-horizon, contact-rich complex manipulation tasks, such as seating a GPU into a PCIe slot, demand both millimeter high precision and out-of-the-box generalization to new tasks.…
RichMap: A Reachability Map Balancing Precision, Efficiency, and Flexibility for Rich Robot Manipulation Tasks
Yupu Lu, Yuxiang Ma, Jia Pan
This paper presents RichMap, a high-precision reachability map representation designed to balance efficiency and flexibility for versatile robot manipulation tasks. By refining the…
Object Recognition and Force Estimation with the GelSight Baby Fin Ray
Sandra Q. Liu, Yuxiang Ma, Edward H. Adelson
Recent advances in soft robotic hands and tactile sensing have enabled both to perform an increasing number of complex tasks with the aid of machine learning. In particular, we pre…