4 papers
StereoPolicy: Improving Robotic Manipulation Policies via Stereo Perception
Evans Han, Yunfan Jiang, Yingke Wang +6
Recent advances in robot imitation learning have produced powerful visuomotor policies that manipulate diverse objects from visual inputs. However, monocular observations lack dept…
IMPASTO: Integrating Model-Based Planning with Learned Dynamics Models for Robotic Oil Painting Reproduction
Yingke Wang, Hao Li, Yifeng Zhu +6
Robotic reproduction of oil paintings using soft brushes and pigments requires force-sensitive control of deformable tools, prediction of brushstroke effects, and multi-step stroke…
NOIR 2.0: Neural Signal Operated Intelligent Robots for Everyday Activities
Tasha Kim, Yingke Wang, Hanvit Cho +1
Neural Signal Operated Intelligent Robots (NOIR) system is a versatile brain-robot interface that allows humans to control robots for daily tasks using their brain signals. This in…
UAD: Unsupervised Affordance Distillation for Generalization in Robotic Manipulation
Yihe Tang, Wenlong Huang, Yingke Wang +5
Understanding fine-grained object affordances is imperative for robots to manipulate objects in unstructured environments given open-ended task instructions. However, existing meth…