12 papers
TacO: Benchmarking Tactile Sensors for Object Manipulation
Anya Zorin, Zilin Si, Myungsun Park +11
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insuffi…
A multi-modal tactile fingertip design for robotic hands to enhance dexterous manipulation
Zhuowei Xu, Zilin Si, Kevin Zhang +2
Tactile sensing holds great promise for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
Planning-Query-Guided Model Generation for Model-Based Deformable Object Manipulation
Alex LaGrassa, Zixuan Huang, Dmitry Berenson +1
Efficient planning in high-dimensional spaces, such as those involving deformable objects, requires computationally tractable yet sufficiently expressive dynamics models. This pape…
Audio-Visual Contact Classification for Tree Structures in Agriculture
Ryan Spears, Moonyoung Lee, George Kantor +1
Contact-rich manipulation tasks in agriculture, such as pruning and harvesting, require robots to physically interact with tree structures to maneuver through cluttered foliage. Id…
Grounded Task Axes: Zero-Shot Semantic Skill Generalization via Task-Axis Controllers and Visual Foundation Models
M. Yunus Seker, Shobhit Aggarwal, Oliver Kroemer
Transferring skills between different objects remains one of the core challenges of open-world robot manipulation. Generalization needs to take into account the high-level structur…