154 citations · 482 across the 12 of their papers we have counts for
7 papers · 1 filter
Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation
Zoey Qiuyu Chen, Karl Van Wyk, Yu-Wei Chao +4
Dexterous robotic hands have the capability to interact with a wide variety of household objects to perform tasks like grasping. However, learning robust real world grasping polici…
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
Yu-Wei Chao, Chris Paxton, Yu Xiang +6
We introduce a new simulation benchmark "HandoverSim" for human-to-robot object handovers. To simulate the giver's motion, we leverage a recent motion capture dataset of hand grasp…
Model Predictive Control for Fluid Human-to-Robot Handovers
Wei Yang, Balakumar Sundaralingam, Chris Paxton +4
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handover…
Reactive Human-to-Robot Handovers of Arbitrary Objects
Wei Yang, Chris Paxton, Arsalan Mousavian +3
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing o…
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds
Lirui Wang, Yu Xiang, Wei Yang +2
6D robotic grasping beyond top-down bin-picking scenarios is a challenging task. Previous solutions based on 6D grasp synthesis with robot motion planning usually operate in an ope…
Human Grasp Classification for Reactive Human-to-Robot Handovers
Wei Yang, Chris Paxton, Maya Cakmak +1
Transfer of objects between humans and robots is a critical capability for collaborative robots. Although there has been a recent surge of interest in human-robot handovers, most p…