1 citations · 1 across the 7 of their papers we have counts for
8 papers
Visual Sim-to-Real Learning for Robotic Insertion under Geometric Variations: Application to Rebar Installation
Tao Sun, Beining Han, Patrick Yin +5
Rebar insertion is among the most repetitive and physically demanding tasks on construction sites, and a contact-rich problem at 1.4 mm clearance. The parts, however, vary at two l…
GraspGen-X: Cross-Embodiment 6-DOF Diffusion-based Grasping
Beining Han, Yu-Wei Chao, Erwin Coumans +5
We study cross-embodiment 6-DOF robot grasping. Unlike prior works, we require the model not only to generalize to novel objects / scenes but also to novel gripper morphologies and…
Evaluating Robustness of Monocular Depth Estimation with Procedural Scene Perturbations
Jack Nugent, Siyang Wu, Zeyu Ma +7
Recent years have witnessed substantial progress on monocular depth estimation, particularly as measured by the success of large models on standard benchmarks. However, performance…
AnyBody: A Benchmark Suite for Cross-Embodiment Manipulation
Meenal Parakh, Alexandre Kirchmeyer, Beining Han +1
Generalizing control policies to novel embodiments remains a fundamental challenge in enabling scalable and transferable learning in robotics. While prior works have explored this…
Procedural Generation of Articulated Simulation-Ready Assets
Abhishek Joshi, Beining Han, Jack Nugent +12
We introduce Infinigen-Articulated, a toolkit for generating realistic, procedurally generated articulated assets for robotics simulation. We include procedural generators for 18 c…
Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks
Beining Han, Abhishek Joshi, Jia Deng
Tactile sensing is an important sensing modality for robot manipulation. Among different types of tactile sensors, magnet-based sensors, like u-skin, balance well between high dura…
Infinigen Indoors: Photorealistic Indoor Scenes using Procedural Generation
Alexander Raistrick, Lingjie Mei, Karhan Kayan +9
We introduce Infinigen Indoors, a Blender-based procedural generator of photorealistic indoor scenes. It builds upon the existing Infinigen system, which focuses on natural scenes,…
FetchBench: A Simulation Benchmark for Robot Fetching
Beining Han, Meenal Parakh, Derek Geng +3
Fetching, which includes approaching, grasping, and retrieving, is a critical challenge for robot manipulation tasks. Existing methods primarily focus on table-top scenarios, which…