4 papers
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-…
E2HiL: Entropy-Guided Sample Selection for Efficient Real-World Human-in-the-Loop Reinforcement Learning
Haoyuan Deng, Yudong Lin, Yuanjiang Xue +5
Human-in-the-loop guidance has emerged as an effective approach for accelerating online reinforcement learning (RL) in real-world manipulation. However, existing human-in-the-loop…