5 papers · 1 filter
Learning Bimanual Cloth Manipulation with Vision-based Tactile Sensing via Single Robotic Arm
Dongmyoung Lee, Wei Chen, Xiaoshuai Chen +2
Robotic cloth manipulation remains challenging due to the high-dimensional state space of fabrics, their deformable nature, and frequent occlusions that limit vision-based sensing.…
Extended Hybrid Zero Dynamics for Bipedal Walking of the Knee-less Robot SLIDER
Rui Zong, Martin Liang, Yuntian Fang +4
Knee-less bipedal robots like SLIDER have the advantage of ultra-lightweight legs and improved walking energy efficiency compared to traditional humanoid robots. In this paper, we…
GraphGarment: Learning Garment Dynamics for Bimanual Cloth Manipulation Tasks
Wei Chen, Kelin Li, Dongmyoung Lee +3
Physical manipulation of garments is often crucial when performing fabric-related tasks, such as hanging garments. However, due to the deformable nature of fabrics, these operation…
A Backbone for Long-Horizon Robot Task Understanding
Xiaoshuai Chen, Wei Chen, Dongmyoung Lee +3
End-to-end robot learning, particularly for long-horizon tasks, often results in unpredictable outcomes and poor generalization. To address these challenges, we propose a novel The…
G.O.G: A Versatile Gripper-On-Gripper Design for Bimanual Cloth Manipulation with a Single Robotic Arm
Dongmyoung Lee, Wei Chen, Xiaoshuai Chen +1
The manipulation of garments poses research challenges due to their deformable nature and the extensive variability in shapes and sizes. Despite numerous attempts by researchers to…