4 papers
FingerViP: Learning Real-World Dexterous Manipulation with Fingertip Visual Perception
Zhen Zhang, Weinan Wang, Hejia Sun +4
The current practice of dexterous manipulation generally relies on a single wrist-mounted view, which is often occluded and limits performance on tasks requiring multi-view percept…
Shared Object Manipulation with a Team of Collaborative Quadrupeds
Shengzhi Wang, Niels Dehio, Xuanqi Zeng +4
Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In…
Multi-Group Equivariant Augmentation for Reinforcement Learning in Robot Manipulation
Hongbin Lin, Juan Rojas, Kwok Wai Samuel Au
Sampling efficiency is critical for deploying visuomotor learning in real-world robotic manipulation. While task symmetry has emerged as a promising inductive bias to improve effic…
Visuomotor Grasping with World Models for Surgical Robots
Hongbin Lin, Bin Li, Kwok Wai Samuel Au
Grasping is a fundamental task in robot-assisted surgery (RAS), and automating it can reduce surgeon workload while enhancing efficiency, safety, and consistency beyond teleoperate…