6 papers
EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration
Modi Shi, Shijia Peng, Jin Chen +6
Human demonstrations offer rich environmental diversity and scale naturally, making them an appealing alternative to robot teleoperation. While this paradigm has advanced robot-arm…
TAMEn: Tactile-Aware Manipulation Engine for Closed-Loop Data Collection in Contact-Rich Tasks
Longyan Wu, Jieji Ren, Chenghang Jiang +6
Handheld paradigms offer an efficient and intuitive way for collecting large-scale demonstration of robot manipulation. However, achieving contact-rich bimanual manipulation throug…
: Resource-Aware Robust Manipulation via Taming Distributional Inconsistencies
Checheng Yu, Chonghao Sima, Gangcheng Jiang +14
High-reliability long-horizon robotic manipulation has traditionally relied on large-scale data and compute to understand complex real-world dynamics. However, we identify that the…
G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation
Tianxing Chen, Yao Mu, Zhixuan Liang +8
Recent advances in imitation learning for 3D robotic manipulation have shown promising results with diffusion-based policies. However, achieving human-level dexterity requires seam…
RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins
Yao Mu, Tianxing Chen, Zanxin Chen +11
In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, th…
RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)
Yao Mu, Tianxing Chen, Shijia Peng +6
In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, th…