5 papers
EquiBim: Learning Symmetry-Equivariant Policy for Bimanual Manipulation
Zhiyuan Zhang, Aditya Mohan, Seungho Han +3
Robotic imitation learning has achieved impressive success in learning complex manipulation behaviors from demonstrations. However, many existing robot learning methods do not expl…
Synthetic Data Augmentation for Enhanced Chicken Carcass Instance Segmentation
Yihong Feng, Chaitanya Pallerla, Xiaomin Lin +5
The poultry industry has been driven by broiler chicken production and has grown into the world's largest animal protein sector. Automated detection of chicken carcasses on process…
ChicGrasp: Imitation-Learning based Customized Dual-Jaw Gripper Control for Delicate, Irregular Bio-products Manipulation
Amirreza Davar, Zhengtong Xu, Siavash Mahmoudi +6
Automated poultry processing lines still rely on humans to lift slippery, easily bruised carcasses onto a shackle conveyor. Deformability, anatomical variance, and strict hygiene r…
UniT: Data Efficient Tactile Representation with Generalization to Unseen Objects
Zhengtong Xu, Raghava Uppuluri, Xinwei Zhang +5
UniT is an approach to tactile representation learning, using VQGAN to learn a compact latent space and serve as the tactile representation. It uses tactile images obtained from a…
Robot Tape Manipulation for 3D Printing
Nahid Tushar, Rencheng Wu, Yu She +2
3D printing has enabled various applications using different forms of materials, such as filaments, sheets, and inks. Typically, during 3D printing, feedstocks are transformed into…