4 papers
EmbodyHOI: Embodiment-Aware Generation of Hand-Object Interactions for Humanoid Dexterous Manipulation
Chaitanya Chawla, Kartik Sharma, Ananya Bal +2
Humanoid dexterous manipulation needs reference motions that are both semantically rich and kinematically feasible for the target robot. Text-conditioned hand-object interaction (H…
MAD-HOI: Masked Autoregressive Diffusion for Generating Articulated Hand Object Interactions from Text
Ananya Bal, Kartik Sharma, Ethan Lai +4
Methods for text-based generation of hand-object interaction (HOI) sequences primarily focus on producing smooth, physically plausible trajectories. A truly utilitarian method shou…
Autonomous Integration and Improvement of Robotic Assembly using Skill Graph Representations
Peiqi Yu, Philip Huang, Chaitanya Chawla +3
Robotic assembly systems traditionally require substantial manual engineering effort to integrate new tasks, adapt to new environments, and improve performance over time. This pape…
Humanoid Policy ~ Human Policy
Ri-Zhao Qiu, Shiqi Yang, Xuxin Cheng +12
Training manipulation policies for humanoid robots with diverse data enhances their robustness and generalization across tasks and platforms. However, learning solely from robot de…