4 citations · 9 across the 9 of their papers we have counts for
7 papers · 1 filter
ContactDP: Contact-Guided Diffusion Policy for Tight Insertion Tasks
Chengyi Xing, Shaoxiong Yao, Diego Romeres +1
High-precision connector insertion remains challenging for robotic systems due to tight mechanical tolerances, partial observability during contact, and multimodal uncertainty aris…
DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstration
Haoran Liao, Pengyue Wang, Shuoyu Chen +10
Dynamic manipulation is a critical capability for robots operating in complex and dynamic environments, where robots must interact with objects that are moving or require rapid adj…
TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types
Yuhao Lin, Yi-Lin Wei, Haoran Liao +6
Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand…
TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfer
Chengyi Xing, Hao Li, Yi-Lin Wei +6
Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robot…
Whisker-Inspired Tactile Sensing: A Sim2Real Approach for Precise Underwater Contact Tracking
Hao Li, Chengyi Xing, Saad Khan +2
Aquatic mammals, such as pinnipeds, utilize their whiskers to detect and discriminate objects and analyze water movements, inspiring the development of robotic whiskers for sensing…
Navigation and 3D Surface Reconstruction from Passive Whisker Sensing
Michael A. Lin, Hao Li, Chengyi Xing +1
Whiskers provide a way to sense surfaces in the immediate environment without disturbing it. In this paper we present a method for using highly flexible, curved, passive whiskers m…
Grasp as You Say: Language-guided Dexterous Grasp Generation
Yi-Lin Wei, Jian-Jian Jiang, Chengyi Xing +5
This paper explores a novel task "Dexterous Grasp as You Say" (DexGYS), enabling robots to perform dexterous grasping based on human commands expressed in natural language. However…