10 papers
RoboTok: A Scalable Data Engine for Internet Demonstration Video Retrieval and Dexterous Manipulation Learning
Howard Qian, Yiting Chen, Yunfei Xie +6
Robot learning increasingly depends on broad and diverse demonstrations, yet collecting robot data remains expensive and difficult to scale across the wide range of real-world task…
EgoInfinity: A Web-Scale 4D Hand-Object Interaction Data Engine for Any-View Robot Retargeting and Video-to-Action Robot Learning
Gaotian Wang, Kejia Ren, Andrew Morgan +4
Internet videos constitute the largest reservoir of embodied human manipulation knowledge, yet converting arbitrary RGB footage into actionable robot training data remains a major…
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
Yiting Chen, Kenneth Kimble, Edward H. Adelson +20
Dexterous manipulation enables robots to purposefully alter the physical world, transforming them from passive observers into active agents in unstructured environments. This capab…
rt-RISeg: Real-Time Model-Free Robot Interactive Segmentation for Active Instance-Level Object Understanding
Howard H. Qian, Yiting Chen, Gaotian Wang +2
Successful execution of dexterous robotic manipulation tasks in new environments, such as grasping, depends on the ability to proficiently segment unseen objects from the backgroun…
Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation
Yiting Chen, Kenneth Kimble, Howard H. Qian +3
Robust and adaptive robotic peg-in-hole assembly under tight tolerances is critical to various industrial applications. However, it remains an open challenge due to perceptual and…
ARC-Calib: Autonomous Markerless Camera-to-Robot Calibration via Exploratory Robot Motions
Podshara Chanrungmaneekul, Yiting Chen, Joshua T. Grace +2
Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human interventio…
Interactive Robot-Environment Self-Calibration via Compliant Exploratory Actions
Podshara Chanrungmaneekul, Kejia Ren, Joshua T. Grace +2
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, et…
Wearable Roller Rings to Augment In-Hand Manipulation through Active Surfaces
Hayden Webb, Podshara Chanrungmaneekul, Shenli Yuan +1
In-hand manipulation is a crucial ability for reorienting and repositioning objects within grasps. The main challenges in this are not only the complexity of the computational mode…
Non-Parametric Self-Identification and Model Predictive Control of Dexterous In-Hand Manipulation
Podshara Chanrungmaneekul, Kejia Ren, Joshua T. Grace +2
Building hand-object models for dexterous in-hand manipulation remains a crucial and open problem. Major challenges include the difficulty of obtaining the geometric and dynamical…
Kinodynamic Rapidly-exploring Random Forest for Rearrangement-Based Nonprehensile Manipulation
Kejia Ren, Podshara Chanrungmaneekul, Lydia E. Kavraki +1
Rearrangement-based nonprehensile manipulation still remains as a challenging problem due to the high-dimensional problem space and the complex physical uncertainties it entails. W…