5 papers
Sparse Meets Dense: Correspondence Guided Robotic Manipulation with Rigid-Deformable Interactions
Ziyu Zhu, Yue Chen, Xirui Liang +5
Manipulation involving rigid-deformable interactions, such as hanging clothes or dressing humans, is common in daily life, making it essential for household robots. Compared to sin…
One-Policy-Fits-All: Geometry-Aware Action Latents for Cross-Embodiment Manipulation
Juncheng Mu, Sizhe Yang, Hojin Bae +5
Cross-embodiment manipulation is crucial for enhancing the scalability of robot manipulation and reducing the high cost of data collection. However, the significant differences bet…
DexImit: Learning Bimanual Dexterous Manipulation from Monocular Human Videos
Juncheng Mu, Sizhe Yang, Yiming Bao +6
Data scarcity fundamentally limits the generalization of bimanual dexterous manipulation, as real-world data collection for dexterous hands is expensive and labor-intensive. Human…
ManipGPT: Is Affordance Segmentation by Large Vision Models Enough for Articulated Object Manipulation?
Taewhan Kim, Hojin Bae, Zeming Li +4
Visual actionable affordance has emerged as a transformative approach in robotics, focusing on perceiving interaction areas prior to manipulation. Traditional methods rely on pixel…
SR3D: Unleashing Single-view 3D Reconstruction for Transparent and Specular Object Grasping
Mingxu Zhang, Xiaoqi Li, Jiahui Xu +5
Recent advancements in 3D robotic manipulation have improved grasping of everyday objects, but transparent and specular materials remain challenging due to depth sensing limitation…