相关论文: H-InDex: Visual Reinforcement Learning with Hand-I…

Dexterous manipulation remains challenging due to the cost of collecting real-robot teleoperation data, the heterogeneity of hand embodiments, and the high dimensionality of control. We present UniDex, a robot foundation suite that couples…

Recently, much progress has been made for self-supervised action recognition. Most existing approaches emphasize the contrastive relations among videos, including appearance and motion consistency. However, two main issues remain for…

In contact-rich tasks, like dexterous manipulation, the hybrid nature of making and breaking contact creates challenges for model representation and control. For example, choosing and sequencing contact locations for in-hand manipulation,…

This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous…

We present HRDexDB, a large-scale, multi-modal dataset of high-fidelity dexterous grasping sequences featuring both human and diverse robotic hands. Unlike existing datasets, HRDexDB provides a comprehensive collection of grasping…

The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

The ability to learn from human demonstration endows robots with the ability to automate various tasks. However, directly learning from human demonstration is challenging since the structure of the human hand can be very different from the…

Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. We introduce MoT-HRA, a hierarchical…

To enable general-purpose robots, we will require the robot to operate daily articulated objects as humans do. Current robot manipulation has heavily relied on using a parallel gripper, which restricts the robot to a limited set of objects.…

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…

We propose to perform imitation learning for dexterous manipulation with multi-finger robot hand from human demonstrations, and transfer the policy to the real robot hand. We introduce a novel single-camera teleoperation system to collect…

Data scarcity remains a fundamental bottleneck for embodied intelligence. Existing approaches use large language models (LLMs) to automate gripper-based simulation generation, but they transfer poorly to dexterous manipulation, which…

Visual imitation learning has achieved impressive progress in learning unimanual manipulation tasks from a small set of visual observations, thanks to the latest advances in computer vision. However, learning bimanual coordination…

Objects with large base areas become ungraspable when they exceed the end-effector's maximum aperture. Existing approaches address this limitation through extrinsic dexterity, which exploits environmental features for non-prehensile…

Mesh deformation is a fundamental tool in 3D content manipulation. Despite extensive prior research, existing approaches often suffer from low output quality, require significant manual tuning, or depend on data-intensive training. To…

Achieving successful robotic manipulation is an essential step towards robots being widely used in industry and home settings. Recently, many learning-based methods have been proposed to tackle this challenge, with imitation learning…

Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…

In-hand manipulation with multi-fingered hands is a challenging problem that recently became feasible with the advent of deep reinforcement learning methods. While most contributions to the task brought improvements in robustness and…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…