4 papers
Touch Where It Matters: Learning Local Tactile Policies for Fine-Grained Gripper Control
Mingyuan Ba, Yanan Zhou, James Zhao +1
Visual imitation policies can organise task motion, yet contact-rich object use demands gripper adjustments beyond coarse opening and closing. We study fine-grained gripper control…
SAKI: Skill Assembly and Kinematic Imitation from Human Videos for Long-Horizon Mobile Manipulation
Yijie Lu, James Zhao, Weiming Zhi
Learning from human videos offers a promising route to acquiring diverse manipulation skills. Extending this capability beyond tabletop settings to long-horizon mobile manipulation…
NestDex: Nested Policy Learning with Copilot Assisted Teleoperation for Dexterous Manipulation
James Zhao, Jinhe Tang, Mingyuan Ba +1
Dexterous manipulation promises substantially richer robot interaction with the physical world, but learning these behaviours remains constrained by the difficulty of collecting co…
Tri-Manual Visuomotor Imitation Learning of Robot Policies
James Zhao, Mingyuan Ba, Weiming Zhi
Bimanual teleoperation provides an effective way to collect robot demonstrations, but it assumes that the operator and robot have matching numbers of simultaneous control channels.…