10 citations · 11 across the 11 of their papers we have counts for
8 papers · 1 filter
Peg-in-Bench: A Modular Benchmark for High-Precision Robotic Insertion
Yosel Delgado, José G. Buenaventura-Carreón, Floris Erich +4
High-precision insertion remains a fundamental challenge in robotic manipulation due to the strict alignment requirements and contact-rich interactions involved. Although peg-in-ho…
Non-Prehensile Throwing: A Reinforcement Learning Perspective
Abdullah Mustafa, Ryo Hanai, Ixchel G. Ramirez-Alpizar +4
Robotic throwing enables fast object transport and extends a robot's reachable workspace beyond traditional pick-and-place. While prehensile (grasp-based) throwing works well for g…
Learning to Predict Contact Force Distributions from Vision Leveraging Object Geometry Priors
Ryo Hanai, Yukiyasu Domaea, Ixchel G. Ramirez-Alpizar +3
Based on vision and prior experience, humans can make rough physical predictions and adjust their manipulation strategies. This paper aims to endow robots with a similar ability. T…
YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale
Takehiko Ohkawa, Jumpei Arima, Yuki Noguchi +16
We introduce Yielding Universal Bidigital Interface (YUBI), a finger-aligned gripper designed to enable intuitive, ergonomic, and scalable data collection for bimanual dexterous ma…
A Flexible Field-Based Policy Learning Framework for Diverse Robotic Systems and Sensors
Jose Gustavo Buenaventura Carreon, Floris Erich, Roman Mykhailyshyn +3
We present a cross robot visuomotor learning framework that integrates diffusion policy based control with 3D semantic scene representations from D3Fields to enable category level…
Learning Bimanual Manipulation via Action Chunking and Inter-Arm Coordination with Transformers
Tomohiro Motoda, Ryo Hanai, Ryoichi Nakajo +3
Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual m…
Visual Imitation Learning of Non-Prehensile Manipulation Tasks with Dynamics-Supervised Models
Abdullah Mustafa, Ryo Hanai, Ixchel Ramirez +4
Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control.…
A Systematic Literature Review of Experiments in Socially Assistive Robotics using Humanoid Robots
Floris Erich, Masakazu Hirokawa, Kenji Suzuki
We perform a Systematic Literature Review to discover how Humanoid robots are being applied in Socially Assistive Robotics experiments. Our search returned 24 papers, from which 16…