4 papers
TONAV: Task-Oriented Navigation and Action-Velocity Chunk Learning for Articulated Object Quadrupedal Mobile Manipulation
Haoran Lin, Mingyu Yang, Pengfei Qi +6
Quadruped mobile manipulation requires two tightly coupled capabilities: reaching manipulation-ready configurations and maintaining stable contact throughout articulated-object int…
DexPIE: Stable Dexterous Policy Improvement from Real-World Experience
Ruizhe Liao, Wenrui Chen, Liangji Zeng +4
Dexterous manipulation presents substantial challenges for imitation learning due to its high-dimensional action space and complex contact-rich dynamics. Policies trained purely fr…
UniFucGrasp: Human-Hand-Inspired Unified Functional Grasp Annotation Strategy and Dataset for Diverse Dexterous Hands
Haoran Lin, Wenrui Chen, Xianchi Chen +7
Dexterous grasp datasets are vital for embodied intelligence, but mostly emphasize grasp stability, ignoring functional grasps needed for tasks like opening bottle caps or holding…
Learning Granularity-Aware Affordances from Human-Object Interaction for Tool-Based Functional Dexterous Grasping
Fan Yang, Wenrui Chen, Kailun Yang +5
To enable robots to use tools, the initial step is teaching robots to employ dexterous gestures for touching specific areas precisely where tasks are performed. Affordance features…