1 citations · 1 across the 2 of their papers we have counts for
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CADRE: Dynamic Catching via Implicit Contact Descriptors and Task-Appropriate Recovery Affordances
Fan Yang, Zixuan Huang, Abhinav Kumar +4
Real-world dexterous manipulation often encounters unexpected errors and disturbances, which can lead to catastrophic failures, such as dropping the manipulated object. To address…
Multi-finger Manipulation via Trajectory Optimization with Differentiable Rolling and Geometric Constraints
Fan Yang, Thomas Power, Sergio Aguilera Marinovic +3
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In con…
Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation
Zixuan Huang, Yating Lin, Fan Yang +1
Manipulation of articulated and deformable objects can be difficult due to their compliant and under-actuated nature. Unexpected disturbances can cause the object to deviate from a…