5 papers
SpaceDex: Generalizable Dexterous Grasping in Tiered Workspaces
Wensheng Wang, Chuanjun Guo, Wei Wei +2
Generalizable grasping with high-degree-of-freedom (DoF) dexterous hands remains challenging in tiered workspaces, where occlusion, narrow clearances, and height-dependent constrai…
FlexiCup: Wireless Multimodal Suction Cup with Dual-Zone Vision-Tactile Sensing
Junhao Gong, Shoujie Li, Kit-Wa Sou +8
Conventional suction cups lack sensing capabilities for contact-aware manipulation in unstructured environments. This paper presents FlexiCup, a multimodal suction cup with wireles…
CEI: A Unified Interface for Cross-Embodiment Visuomotor Policy Learning in 3D Space
Tong Wu, Shoujie Li, Junhao Gong +4
Robotic foundation models trained on large-scale manipulation datasets have shown promise in learning generalist policies, but they often overfit to specific viewpoints, robot arms…
MoDex: Planning High-Dimensional Dexterous Control via Learning Neural Internal Models
Tong Wu, Shoujie Li, Chuqiao Lyu +3
Controlling hands in high-dimensional action space has been a longstanding challenge, yet humans naturally perform dexterous tasks with ease. In this paper, we draw inspiration fro…
VTire: A Bimodal Visuotactile Tire with High-Resolution Sensing Capability
Shoujie Li, Jianle Xu, Tong Wu +5
Developing smart tires with high sensing capability is significant for improving the moving stability and environmental adaptability of wheeled robots and vehicles. However, due to…