4 papers
Kinematic-Tactile Aligned Dexterous Retargeting with Contact Wrench Space Alignment
Xinyuan He, Ziheng Xu, Yueyuan Chen +6
Human demonstrations provide a natural and scalable source of data for learning dexterous manipulation policies. However, existing retargeting methods primarily transfer human kine…
OccluDex: Hierarchical 3D Visuo-Tactile Representation Learning for Egocentric Dexterous Manipulation under Self-Occlusion
Ziheng Xu, Yueyuan Chen, Xinyuan He +6
Reliable dexterous manipulation requires continuous estimation of object geometry and hand-object contact throughout interaction. With egocentric sensing, however, the manipulating…
Full-Body Golf Swing Kinematic Reconstruction From a Smartwatch IMU
Yuanshuo Tan, Kezhe Zhu, Xiujie Sun +12
Quantitative measurement of the golf swing is critical for evaluating technique and enabling individualized feedback. However, existing methods are impractical to use on the golf c…
Mixtac: A Novel Bio-Inspired Hybrid Tactile Sensor with Synergistic Event-Frame Perception
Yihang Li, Yijin Chen, Junkai Xu +4
Vision based and event based tactile sensors are important in robotic manipulation research. However, they suffer from a fundamental tradeoff: vision based sensors have low samplin…