Related papers: BiCoord: A Bimanual Manipulation Benchmark towards…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
Precision robotic manipulation tasks (insertion, screwing, precisely pick, precisely place) are required in many scenarios. Previous methods achieved good performance on such manipulation tasks. However, such methods typically require…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…
General-purpose robots coexisting with humans in their environment must learn to relate human language to their perceptions and actions to be useful in a range of daily tasks. Moreover, they need to acquire a diverse repertoire of…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…
In recent years, the robotics community has made substantial progress in robotic manipulation using deep reinforcement learning (RL). Effectively learning of long-horizon tasks remains a challenging topic. Typical RL-based methods…
We present UniBiDex a unified teleoperation framework for robotic bimanual dexterous manipulation that supports both VRbased and leaderfollower input modalities UniBiDex enables realtime contactrich dualarm teleoperation by integrating…
Developing robotic systems capable of robustly executing long-horizon manipulation tasks with human-level dexterity is challenging, as such tasks require both physical dexterity and seamless sequencing of manipulation skills while robustly…
Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…
The convergence of embodied agents and large language models (LLMs) has brought significant advancements to embodied instruction following. Particularly, the strong reasoning capabilities of LLMs make it possible for robots to perform…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
Memory is critical for long-horizon and history-dependent robotic manipulation. Such tasks often involve counting repeated actions or manipulating objects that become temporarily occluded. Recent vision-language-action (VLA) models have…
Embodied Artificial Intelligence (EAI) is rapidly developing, gradually subverting previous autonomous systems' paradigms from isolated perception to integrated, continuous action. This transition is highly significant for industrial…
With the rapid development of embodied intelligence, leveraging large-scale human data for high-level imitation learning on humanoid robots has become a focal point of interest in both academia and industry. However, applying humanoid…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
In industrial scenarios, effective human-robot collaboration relies on multi-camera systems to robustly monitor human operators despite the occlusions that typically show up in a robotic workcell. In this scenario, precise localization of…
Manipulating garments and fabrics has long been a critical endeavor in the development of home-assistant robots. However, due to complex dynamics and topological structures, garment manipulations pose significant challenges. Recent…
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…
Mastering complex sequential tasks continues to pose a significant challenge in robotics. While there has been progress in learning long-horizon manipulation tasks, most existing approaches lack rigorous mathematical guarantees for ensuring…