4 papers
RATE: Risk-Aware Tactile Encoding for Contact-rich Robotic Manipulation
Yuyao Jiang, Haichao Liu, Jiarui Zheng +3
Tactile sensing is particularly valuable for contact-rich robotic manipulation. Recent work has made substantial progress in tactile representation learning for robotic manipulatio…
Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation
Haoyuan Deng, Haichao Liu, Wenkai Guo +6
Real-world robotic assembly at sub-millimeter tolerances demands spatial precision, compliant interaction, and robustness to contact failures. We present Facet-0, a robotic foundat…
DexTeleop-0: Force-Aware Bimanual Dexterous Teleoperation with Ego-Centric Perception towards Shared Autonomy
Haichao Liu, Yuyao Jiang, Hyunsun Park +2
Fine-grained, bimanual dexterous manipulation remains a foundational challenge in robotics. Traditional teleoperation systems often fail in contact-rich tasks because embodiment ga…
UniManip: Open-World Robotic Manipulation via Agentic Operational Graphs
Haichao Liu, Yuanjiang Xue, Yuheng Zhou +5
Achieving general-purpose robotic manipulation requires robots to bridge high-level semantic intent with low-level physical interaction in unstructured environments. However, zero-…