相关论文: Dexterous Robotic Piano Playing at Scale

Many of the recent approaches to polyphonic piano note onset transcription require training a machine learning model on a large piano database. However, such approaches are limited by dataset availability; additional training data is…

We present a novel method enabling robots to quickly learn to manipulate objects by leveraging a motion planner to generate "expert" training trajectories from a small amount of human-labeled data. In contrast to the traditional…

Tactile sensing is crucial for robotic hands to achieve human-level dexterous manipulation, especially in scenarios with visual occlusion. However, its application is often hindered by the difficulty of collecting large-scale real-world…

Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…

Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…

Action-conditioned video models offer a promising path to building general-purpose robot simulators that can improve directly from data. Yet, despite training on large-scale robot datasets, current state-of-the-art video models still…

Human manipulation skills represent a pinnacle of their voluntary motor functions, requiring the coordination of many degrees of freedom and processing of high-dimensional sensor input to achieve remarkable dexterity. Thus, we set out to…

This paper introduces the ACCompanion, an expressive accompaniment system. Similarly to a musician who accompanies a soloist playing a given musical piece, our system can produce a human-like rendition of the accompaniment part that follows…

Audio-driven bimanual piano motion generation requires precise modeling of complex musical structures and dynamic cross-hand coordination. However, existing methods often rely on acoustic-only representations lacking symbolic priors, employ…

We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…

Achieving human-level speed and performance on real world tasks is a north star for the robotics research community. This work takes a step towards that goal and presents the first learned robot agent that reaches amateur human-level…

Dexterous manipulation remains a challenging robotics problem, largely due to the difficulty of collecting extensive human demonstrations for learning. In this paper, we introduce \textsc{Gen2Real}, which replaces costly human demos with…

Humans are capable of completing a range of challenging manipulation tasks that require reasoning jointly over modalities such as vision, touch, and sound. Moreover, many such tasks are partially-observed; for example, taking a notebook out…

Many real-world manipulation tasks consist of a series of subtasks that are significantly different from one another. Such long-horizon, complex tasks highlight the potential of dexterous hands, which possess adaptability and versatility,…

This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…

Recent progress in GPU-accelerated, photorealistic simulation has opened a scalable data-generation path for robot learning, where massive physics and visual randomization allow policies to generalize beyond curated environments. Building…

In this work, we aim to learn dexterous manipulation of deformable objects using multi-fingered hands. Reinforcement learning approaches for dexterous rigid object manipulation would struggle in this setting due to the complexity of physics…

We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wrench information. We derive the equations of motion for…

Large language models (LLMs) are beginning to automate reward design for dexterous manipulation. However, no prior work has considered tactile sensing, which is known to be critical for human-like dexterity. We present Text2Touch, bringing…