7 papers
Learning Bimanual Cloth Manipulation with Vision-based Tactile Sensing via Single Robotic Arm
Dongmyoung Lee, Wei Chen, Xiaoshuai Chen +2
Robotic cloth manipulation remains challenging due to the high-dimensional state space of fabrics, their deformable nature, and frequent occlusions that limit vision-based sensing.…
Extended Hybrid Zero Dynamics for Bipedal Walking of the Knee-less Robot SLIDER
Rui Zong, Martin Liang, Yuntian Fang +4
Knee-less bipedal robots like SLIDER have the advantage of ultra-lightweight legs and improved walking energy efficiency compared to traditional humanoid robots. In this paper, we…
GraphGarment: Learning Garment Dynamics for Bimanual Cloth Manipulation Tasks
Wei Chen, Kelin Li, Dongmyoung Lee +3
Physical manipulation of garments is often crucial when performing fabric-related tasks, such as hanging garments. However, due to the deformable nature of fabrics, these operation…
A Backbone for Long-Horizon Robot Task Understanding
Xiaoshuai Chen, Wei Chen, Dongmyoung Lee +3
End-to-end robot learning, particularly for long-horizon tasks, often results in unpredictable outcomes and poor generalization. To address these challenges, we propose a novel The…
Haptic-ACT: Bridging Human Intuition with Compliant Robotic Manipulation via Immersive VR
Kelin Li, Shubham M Wagh, Nitish Sharma +4
Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artific…
Beyond Humanoid Prosthetic Hands: Modular Terminal Devices That Improve User Performance
Digby Chappell, Barry Mulvey, Shehara Perera +3
Despite decades of research and development, myoelectric prosthetic hands lack functionality and are often rejected by users. This lack in functionality can be partially attributed…