2 citations · 2 across the 6 of their papers we have counts for
7 papers · 1 filter
TacBPM: A Tactile-conditioned Behavior Prior Model for Dexterous Reorientation
Jie Yin, Wanli Xing, Zeyuan Zhao +3
Dexterous in-hand manipulation requires policies that coordinate high-DoF hand joints through intermittent, contact-rich interaction. Beyond target-orientation tracking, such polic…
Grounding Generated Video Plans in Simulation Towards Versatile Dexterous Controllers
Tianyue Wu, Boyuan An, Shuqi Zhao +6
Generated hand-object interaction (HOI) videos provide a controllable way to propose manipulation motions. Simulation-based HOI tracking can translate such kinematic references int…
Dex-X: Learning Visual-Tactile Dexterous Manipulation From Human Videos with Simulated Interaction
Ruoqu Chen, Feixiang Ruan, Liu Cao +9
Human videos are an abundant source of dexterous manipulation behaviors, but they lack tactile information that is crucial for contact-rich interaction. This raises a fundamental q…
FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation
Chengbo Yuan, Zicheng Zhang, Mingjie Zhou +14
Despite the success of vision-based generalist robotic policies, existing tactile-based policies remain tied to fixed embodiments and sensor setups. This is because tactile signals…
Towards Human-Like Manipulation through RL-Augmented Teleoperation and Mixture-of-Dexterous-Experts VLA
Tutian Tang, Xingyu Ji, Wanli Xing +7
While Vision-Language-Action (VLA) models have demonstrated remarkable success in robotic manipulation, their application has largely been confined to low-degree-of-freedom end-eff…
Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies
Maolin Lei, Edoardo Romiti, Arturo Laurenzi +4
This work proposes a unified Hierarchical Model Predictive Control (H-MPC) for modular manipulators across various morphologies, as the controller can adapt to different configurat…
Simultaneous Synchronization and Calibration for Wide-baseline Stereo Event Cameras
Wanli Xing, Shijie Lin, Guangze Zheng +2
Event-based cameras are increasingly utilized in various applications, owing to their high temporal resolution and low power consumption. However, a fundamental challenge arises wh…