6 papers · 1 filter
ArtGS:3D Gaussian Splatting for Interactive Visual-Physical Modeling and Manipulation of Articulated Objects
Qiaojun Yu, Xibin Yuan, Yu jiang +8
Articulated object manipulation remains a critical challenge in robotics due to the complex kinematic constraints and the limited physical reasoning of existing methods. In this wo…
Articulated Object Manipulation using Online Axis Estimation with SAM2-Based Tracking
Xi Wang, Tianxing Chen, Qiaojun Yu +7
Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for man…
ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation
Wenhai Liu, Junbo Wang, Yiming Wang +2
In most contact-rich manipulation tasks, humans apply time-varying forces to the target object, compensating for inaccuracies in the vision-guided hand trajectory. However, current…
UniAff: A Unified Representation of Affordances for Tool Usage and Articulation with Vision-Language Models
Qiaojun Yu, Siyuan Huang, Xibin Yuan +9
Previous studies on robotic manipulation are based on a limited understanding of the underlying 3D motion constraints and affordances. To address these challenges, we propose a com…
SKT: Integrating State-Aware Keypoint Trajectories with Vision-Language Models for Robotic Garment Manipulation
Xin Li, Siyuan Huang, Qiaojun Yu +6
Automating garment manipulation poses a significant challenge for assistive robotics due to the diverse and deformable nature of garments. Traditional approaches typically require…
RPMArt: Towards Robust Perception and Manipulation for Articulated Objects
Junbo Wang, Wenhai Liu, Qiaojun Yu +4
Articulated objects are commonly found in daily life. It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world roboti…