4 papers
VE2VF: Vision-Enabled to Vision-Free Distillation via Real-world Reinforcement Learning for Robust Contact-Rich Manipulation
Victor Kowalski, Chengxi Li, Dongheui Lee
When using reinforcement learning (RL) for contact-rich robotic manipulation, vision can provide task-relevant information that accelerates learning beyond what proprioception alon…
DexTwist: Dexterous Hand Retargeting for Twist Motion via Mixed Reality-based Teleoperation
Dongmyoung Lee, Chengxi Li, Dongheui Lee
Dexterous teleoperation via Mixed Reality (MR)-based interfaces offers a scalable paradigm for transferring human manipulation skills to dexterous robot hands. However, conventiona…
AIR-VLA: Vision-Language-Action Systems for Aerial Manipulation
Jianli Sun, Bin Tian, Qiyao Zhang +5
While Vision-Language-Action (VLA) models have achieved remarkable success in ground-based embodied intelligence, their application to Aerial Manipulation Systems (AMS) remains a l…
Bimanual Deformable Bag Manipulation Using a Structure-of-Interest Based Neural Dynamics Model
Peng Zhou, Pai Zheng, Jiaming Qi +5
The manipulation of deformable objects by robotic systems presents a significant challenge due to their complex and infinite-dimensional configuration spaces. This paper introduces…