4 papers
PolyUMI: Accessible Visual-Tactile-Audio Data Collection for Object Inference and Manipulation
Conor W. Hayes, Rickmer Krohn, Aravind Ramaswami +6
Humans typically rely on vision, touch, hearing, and proprioception to perceive contact and adapt their actions during manipulation. Providing robots with comparable responsiveness…
Benchmarking Dexterity of Multifingered Robot Hands: A Review and Perspective
Anthony Shilati, Anunth Ramaswami, Luke Batteas +16
Robot hands are a key interface between AI and the physical world, making advances in robotic dexterity essential to realizing the vision of physical AI. While impressive dexterity…
Robust In-Hand Manipulation via Priors in Reinforcement Learning and Mechanical Design
Yifei Chen, Shihan Lu, Ed Colgate +1
In-hand manipulation without external sensing is challenging due to uncertainties from finger-object contacts and disturbances by gravity. While reinforcement learning has shown pr…
Compliant In-hand Rolling Manipulation Using Tactile Sensing
Huan Weng, Yifei Chen, Kevin M. Lynch
We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wr…