4 papers
World Models for Robotic Manipulation: A Survey
Fangyuan Wang, Ziyuan Wang, Guorui Pei +15
Robotic manipulation depends on the ability to anticipate how actions reshape objects, contacts, and scene geometry before execution. Learned world models provide this capability b…
Learning a Kinodynamic Trajectory Manifold for Impact-Aware Compliant Catching of Fast-Moving Objects
Guorui Pei, Mengshi Zhang, Xi Chen +3
Fast catching of free-flying objects is difficult because of short reaction time, impact uncertainty, and kinodynamic constraints. We use reinforcement learning in simulation to co…
Failure-Aware Bimanual Teleoperation via Conservative Value Guided Assistance
Peng Zhou, Zhongxuan Li, Jinsong Wu +7
Teleoperation of high-precision manipulation is con-strained by tight success tolerances and complex contact dy-namics, which make impending failures difficult for human operators…
UniBiDex: A Unified Teleoperation Framework for Robotic Bimanual Dexterous Manipulation
Zhongxuan Li, Zeliang Guo, Jun Hu +4
We present UniBiDex a unified teleoperation framework for robotic bimanual dexterous manipulation that supports both VRbased and leaderfollower input modalities UniBiDex enables re…