14 papers
Towards Human-Like Manipulation through RL-Augmented Teleoperation and Mixture-of-Dexterous-Experts VLA
Tutian Tang, Xingyu Ji, Wanli Xing +7
While Vision-Language-Action (VLA) models have demonstrated remarkable success in robotic manipulation, their application has largely been confined to low-degree-of-freedom end-eff…
Rethinking Camera Choice: An Empirical Study on Fisheye Camera Properties in Robotic Manipulation
Han Xue, Nan Min, Xiaotong Liu +5
The adoption of fisheye cameras in robotic manipulation, driven by their exceptionally wide Field of View (FoV), is rapidly outpacing a systematic understanding of their downstream…
Stereo-Inertial Poser: Towards Metric-Accurate Shape-Aware Motion Capture Using Sparse IMUs and a Single Stereo Camera
Tutian Tang, Xingyu Ji, Yutong Li +3
Recent advancements in visual-inertial motion capture systems have demonstrated the potential of combining monocular cameras with sparse inertial measurement units (IMUs) as cost-e…
I-Perceive: A Foundation Model for Active Perception with Language Instructions
Yongxi Huang, Zhuohang Wang, Wenjing Tang +3
Active perception - the ability of a robot to proactively select viewpoints to acquire task-relevant information - is essential for robust operation in real-world environments. How…
Right-Side-Out: Learning Zero-Shot Sim-to-Real Garment Reversal
Chang Yu, Siyu Ma, Wenxin Du +9
Turning garments right-side out is a challenging manipulation task: it is highly dynamic, entails rapid contact changes, and is subject to severe visual occlusion. We introduce Rig…
FSGlove: An Inertial-Based Hand Tracking System with Shape-Aware Calibration
Yutong Li, Jieyi Zhang, Wenqiang Xu +2
Accurate hand motion capture (MoCap) is vital for applications in robotics, virtual reality, and biomechanics, yet existing systems face limitations in capturing high-degree-of-fre…