相关论文: Task-Driven Hybrid Model Reduction for Dexterous M…

Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand retargeting to closely mimic human hand postures. However,…

Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…

In-hand manipulation of tools using dexterous hands in real-world is an underexplored problem in the literature. In addition to more complex geometry and larger size of the tools compared to more commonly used objects like cubes or…

Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

Controlling robotic manipulators with high-dimensional action spaces for dexterous tasks is a challenging problem. Inspired by human manipulation, researchers have studied generating and using postural synergies for robot hands to…

While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…

Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…

To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimizing in real-time over the exponential number of possible…

This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the "Learning from Demonstrations" paradigm. We introduce…

Despite advances in hand-object interaction modeling, generating realistic dexterous manipulation data for robotic hands remains a challenge. Retargeting methods often suffer from low accuracy and fail to account for hand-object…

Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot…

Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…

The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…

Dexterous manipulation tasks often require contact switching, where fingers make and break contact with the object. We propose a method that plans trajectories for dexterous manipulation tasks involving contact switching using…

Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…

Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…

We present DexCanvas, a large-scale hybrid real-synthetic human manipulation dataset containing 7,000 hours of dexterous hand-object interactions seeded from 70 hours of real human demonstrations, organized across 21 fundamental…

Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…