7 papers
LightTact: A Visual-Tactile Fingertip Sensor for Deformation-Independent Contact Sensing
Changyi Lin, Boda Huo, Mingyang Yu +4
Contact often occurs without macroscopic surface deformation, such as during interaction with liquids, semi-liquids, or ultra-soft materials. However, most existing tactile sensors…
Learning Versatile Humanoid Manipulation with Touch Dreaming
Yaru Niu, Zhenlong Fang, Binghong Chen +8
Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity,…
APEX: Learning Adaptive High-Platform Traversal for Humanoid Robots
Yikai Wang, Tingxuan Leng, Changyi Lin +5
Humanoid locomotion has advanced rapidly with deep reinforcement learning (DRL), enabling robust feet-based traversal over uneven terrain. Yet platforms beyond leg length remain la…
GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering
Saumya Saxena, Blake Buchanan, Chris Paxton +6
In Embodied Question Answering (EQA), agents must explore and develop a semantic understanding of an unseen environment to answer a situated question with confidence. This problem…
STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning
Marius Memmel, Jacob Berg, Bingqing Chen +2
Robot learning is witnessing a significant increase in the size, diversity, and complexity of pre-collected datasets, mirroring trends in domains such as natural language processin…
Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining
Yaru Niu, Yunzhe Zhang, Mingyang Yu +11
Quadrupedal robots have demonstrated impressive locomotion capabilities in complex environments, but equipping them with autonomous versatile manipulation skills in a scalable way…