11 papers · 1 filter
FELT: Generating Tactile Signals from Vision for Visuo-Tactile Manipulation
Zinan Li, Yiyang Ling, Yuming Gu +8
The sense of touch is central to manipulation, especially when vision is occluded or ambiguous. Although combining vision and touch improves manipulation, learning robust visuo-tac…
Red-Teaming Vision-Language-Action Models via Quality Diversity Prompt Generation for Robust Robot Policies
Siddharth Srikanth, Freddie Liang, Ya-Chuan Hsu +9
Vision-Language-Action (VLA) models have significant potential to enable general-purpose robotic systems for a range of vision-language tasks. However, the performance of VLA-based…
Improving through Interaction: Searching Behavioral Representation Spaces with CMA-ES-IG
Nathaniel Dennler, Zhonghao Shi, Yiran Tao +3
Robots that interact with humans must adapt to individual users' preferences to operate effectively in human-centered environments. An intuitive and effective technique to learn no…
Soft and Compliant Contact-Rich Hair Manipulation and Care
Uksang Yoo, Nathaniel Dennler, Eliot Xing +4
Hair care robots can help address labor shortages in elderly care while enabling those with limited mobility to maintain their hair-related identity. We present MOE-Hair, a soft ro…
ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulation
Enyu Zhao, Vedant Raval, Hejia Zhang +5
Vision-Language Models (VLMs) have revolutionized artificial intelligence and robotics due to their commonsense reasoning capabilities. In robotic manipulation, VLMs are used prima…
Integrating Field of View in Human-Aware Collaborative Planning
Ya-Chuan Hsu, Michael Defranco, Rutvik Patel +1
In human-robot collaboration (HRC), it is crucial for robot agents to consider humans' knowledge of their surroundings. In reality, humans possess a narrow field of view (FOV), lim…