4 papers
Learning Generalizable Hand-Object Tracking from Synthetic Demonstrations
Yinhuai Wang, Runyi Yu, Hok Wai Tsui +9
We present a system for learning generalizable hand-object tracking controllers purely from synthetic data, without requiring any human demonstrations. Our approach makes two key c…
ManiDP: Manipulability-Aware Diffusion Policy for Posture-Dependent Bimanual Manipulation
Zhuo Li, Junjia Liu, Dianxi Li +5
Recent work has demonstrated the potential of diffusion models in robot bimanual skill learning. However, existing methods ignore the learning of posture-dependent task features, w…
Rethinking the Intermediate Features in Adversarial Attacks: Misleading Robotic Models via Adversarial Distillation
Ke Zhao, Huayang Huang, Miao Li +1
Language-conditioned robotic learning has significantly enhanced robot adaptability by enabling a single model to execute diverse tasks in response to verbal commands. Despite thes…
Learning Goal-oriented Bimanual Dough Rolling Using Dynamic Heterogeneous Graph Based on Human Demonstration
Junjia Liu, Chenzui Li, Shixiong Wang +4
Soft object manipulation poses significant challenges for robots, requiring effective techniques for state representation and manipulation policy learning. State representation inv…