相关论文: TASTE-Rob: Advancing Video Generation of Task-Orie…
Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Egocentric human video data, which captures rich human-environment interactions and can be collected at scale, has become a key driver of embodied intelligence research. However, existing egocentric datasets typically lack tactile sensing,…
We present an approach to learn general robot manipulation priors from 3D hand-object interaction trajectories. We build a framework to use in-the-wild videos to generate sensorimotor robot trajectories. We do so by lifting both the human…
Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping…
We present EgoFun3D, a coordinated task formulation, dataset, and benchmark for modeling interactive 3D objects from egocentric videos. Interactive objects are of high interest for embodied AI but scarce, making modeling from readily…
Large-scale egocentric video datasets capture diverse human activities across a wide range of scenarios, offering rich and detailed insights into how humans interact with objects, especially those that require fine-grained dexterous…
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…
Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…
Human hand actions are quite complex, especially when they involve object manipulation, mainly due to the high dimensionality of the hand and the vast action space that entails. Imitating those actions with dexterous hand models involves…
Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…
Recent advancements in learning from human demonstration have shown promising results in addressing the scalability and high cost of data collection required to train robust visuomotor policies. However, existing approaches are often…
Generating interaction-centric videos, such as those depicting humans or robots interacting with objects, is crucial for embodied intelligence, as they provide rich and diverse visual priors for robot learning, manipulation policy training,…
Robot grasping is an actively studied area in robotics, mainly focusing on the quality of generated grasps for object manipulation. However, despite advancements, these methods do not consider the human-robot collaboration settings where…
In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we…
In this paper, we introduce RoleMotion, a large-scale human motion dataset that encompasses a wealth of role-playing and functional motion data tailored to fit various specific scenes. Existing text datasets are mainly constructed…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
Functional grasp is essential for enabling dexterous multi-finger robot hands to manipulate objects effectively. However, most prior work either focuses on power grasping, which simply involves holding an object still, or relies on costly…
The human hand is our primary interface to the physical world, yet egocentric perception rarely knows when, where, or how forcefully it makes contact. Robust wearable tactile sensors are scarce, and no existing in-the-wild datasets align…