6 papers · 1 filter
Robot-Factored World Models via Robot Rendering
Byungjun Kim, Taeksoo Kim, Hyunsoo Cha +1
Action-conditioned video world models predict future observations from an initial observation and an action signal. In robotics, actions influence future observations through two d…
OmniRobotHome: A Multi-Camera Home Platform for Real-Time Human-Robot Interaction
Junyoung Lee, Inhee Lee, Sookwan Han +9
Robots in homes must continuously sense the people around them, yet most prior work relies on limited or offline perception. We argue that perception quality is the dominant factor…
AutoDex: An Automated Real-World System for Dexterous Grasping Data Collection
Mingi Choi, Gunhee Kim, Jisoo Kim +4
Learning robust dexterous grasping requires real-world data that records the physical outcomes of grasp attempts. Such data is hard to obtain at scale: teleoperation yields valid p…
ZeroDex: Zero-Shot Long-Horizon Dexterous Manipulation via Multi-View 3D-Grounded VLM Reasoning
Jisoo Kim, Sangwon Baik, Taeksoo Kim +4
We present ZeroDex, a zero-shot framework for long-horizon dexterous manipulation that grounds language instructions into executable 3D task plans from calibrated multi-view RGB im…
HRDexDB: A Paired Human-Robot Dataset for Cross-Embodiment Dexterous Grasping
Jongbin Lim, Taeyun Ha, Mingi Choi +4
We present HRDexDB, a paired cross-embodiment dexterous grasping dataset of high-fidelity dexterous grasping sequences featuring both human and diverse robotic hands. Unlike existi…
Learning to Transfer Human Hand Skills for Robot Manipulations
Sungjae Park, Seungho Lee, Mingi Choi +4
We present a method for teaching dexterous manipulation tasks to robots from human hand motion demonstrations. Unlike existing approaches that solely rely on kinematics information…