6 citations · 12 across the 10 of their papers we have counts for
7 papers · 1 filter
FBI: Learning Dexterous In-hand Manipulation with Dynamic Visuotactile Shortcut Policy
Yijin Chen, Wenqiang Xu, Zhenjun Yu +4
Dexterous in-hand manipulation is a long-standing challenge in robotics due to complex contact dynamics and partial observability. While humans synergize vision and touch for such…
AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation
Yizheng Zhang, Zhenjun Yu, Jiaxin Lai +2
We introduce AgentWorld, an interactive simulation platform for developing household mobile manipulation capabilities. Our platform combines automated scene construction that encom…
DexTOG: Learning Task-Oriented Dexterous Grasp with Language
Jieyi Zhang, Wenqiang Xu, Zhenjun Yu +3
This study introduces a novel language-guided diffusion-based learning framework, DexTOG, aimed at advancing the field of task-oriented grasping (TOG) with dexterous hands. Unlike…
DiPGrasp: Parallel Local Searching for Efficient Differentiable Grasp Planning
Wenqiang Xu, Jieyi Zhang, Tutian Tang +3
Grasp planning is an important task for robotic manipulation. Though it is a richly studied area, a standalone, fast, and differentiable grasp planner that can work with robot grip…
TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensors
Wenxin Du, Wenqiang Xu, Jieji Ren +2
Tactile perception stands as a critical sensory modality for human interaction with the environment. Among various tactile sensor techniques, optical sensor-based approaches have g…
Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning
Zhenjun Yu, Wenqiang Xu, Siqiong Yao +5
This work presents a novel tactile perception-based method, named T-NT, for performing the needle-threading task, an application of deformable linear object (DLO) manipulation. Thi…
RFUniverse: A Multiphysics Simulation Platform for Embodied AI
Haoyuan Fu, Wenqiang Xu, Ruolin Ye +7
Multiphysics phenomena, the coupling effects involving different aspects of physics laws, are pervasive in the real world and can often be encountered when performing everyday hous…