11 papers · 1 filter
Beyond the End-Effector: Learning Whole-Arm Contact Manipulation from Human Demonstrations
Bo-Ruei Huang, Daniel Seita, Erdem Bıyık
Robot manipulation has traditionally relied on end-effector-centric interactions. In contrast, humans routinely exploit whole-arm contacts to improve efficiency, robustness, and ad…
When Does Touch Matter? Charting the Vision-Interaction Gap in Cluttered Dexterous Grasping
Hao Jiang, Luis Dominguez, Daniel Seita
Dexterous grasping in clutter poses a basic sensing question: when do tactile measurements and external wrench estimates improve on visual geometry? Occlusion and contact can obscu…
FELT: Generating Tactile Signals from Vision for Visuo-Tactile Manipulation
Zinan Li, Yiyang Ling, Yuming Gu +8
Tactile sensing can improve performance in contact-rich robot manipulation. However, learning policies that use real tactile feedback typically requires demonstrations collected wi…
PREFAIL: Identifying Precursors to Failures in Robotic Lift-and-Place Tasks to Improve Task Execution Performance
Zeyu Shangguan, Rajas Chitale, Rutvik Patel +2
Non-prehensile manipulation enables flexible material handling with part carriers, but friction-based support makes high-speed motions failure-prone, while slower operation increas…
OFlow: Injecting Object-Aware Temporal Flow Matching for Robust Robotic Manipulation
Kuanning Wang, Ke Fan, Chenhao Qiu +5
Robust robotic manipulation requires not only predicting how the scene evolves over time, but also recognizing task-relevant objects in complex scenes. However, existing VLA models…
CRAFT: Video Diffusion for Bimanual Robot Data Generation
Jason Chen, I-Chun Arthur Liu, Gaurav Sukhatme +1
Bimanual robot learning from demonstrations is fundamentally limited by the cost and narrow visual diversity of real-world data, which constrains policy robustness across viewpoint…
HANDFUL: Sequential Grasp-Conditioned Dexterous Manipulation with Resource Awareness
Ethan Foong, Yunshuang Li, Hao Jiang +2
Dexterous robot hands offer rich opportunities for multifunctional manipulation, where a robot must execute multiple skills in sequence while maintaining control over previously gr…
OCRA: Object-Centric Learning with 3D and Tactile Priors for Human-to-Robot Action Transfer
Kuanning Wang, Ke Fan, Yuqian Fu +6
We present OCRA, an Object-Centric framework for video-based human-to-Robot Action transfer that learns directly from human demonstration videos to enable robust manipulation. Obje…
Concurrent Prehensile and Nonprehensile Manipulation: A Practical Approach to Multi-Stage Dexterous Tasks
Hao Jiang, Yue Wu, Yue Wang +2
Dexterous hands enable concurrent prehensile and nonprehensile manipulation, such as holding one object while interacting with another, a capability essential for everyday tasks ye…
Learning Geometry-Aware Nonprehensile Pushing and Pulling with Dexterous Hands
Yunshuang Li, Yiyang Ling, Gaurav S. Sukhatme +1
Nonprehensile manipulation, such as pushing and pulling, enables robots to move, align, or reposition objects that may be difficult to grasp due to their geometry, size, or relatio…
IMPACT: Intelligent Motion Planning with Acceptable Contact Trajectories via Vision-Language Models
Yiyang Ling, Karan Owalekar, Oluwatobiloba Adesanya +2
Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds colli…