4 papers · 1 filter
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…
CoRE: Learning Collaboration-Role Experts for Decentralized Collaborative Manipulation with One Policy
Yanan Zhou, Zhaoyan Qian, Zihao Li +3
Collaborative manipulation requires robots to perform complementary actions as interactions unfold. We study single-policy decentralized collaboration: every robot runs the same po…
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.…