Manipulation

[T-RO24] Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects

Integrating robotics into human-centric environments such as homes, necessitates advanced manipulation skills as robotic devices will …

Zihang Zhao, Yuyang Li, Wanlin Li, Zhenghao Qi, Lecheng Ruan, Yixin Zhu, Kaspar Althoefer

[IROS24] Ag2Manip: Learning Novel Manipulation Skills with Agent-Agnostic Visual and Action Representations

Autonomous robotic systems capable of learning novel manipulation tasks are poised to transform industries from manufacturing to …

Puhao Li, Tengyu Liu, Yuyang Li, Muzhi Han, Haoran Geng, Shu Wang, Yixin Zhu, Song-Chun Zhu, Siyuan Huang

[RA-L24] Grasp Multiple Objects with One Hand

The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such …

Yuyang Li, Bo Liu, Yiran Geng, Puhao Li, Yaodong Yang, Yixin Zhu, Tengyu Liu, Siyuan Huang

[ICLR24] SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulation

Humans demonstrate remarkable skill in transferring manipulation abilities across objects of varying shapes, poses, and appearances, a …

Qianxu Wang, Haotong Zhang, Congyue Deng, Yang You, Hao Dong, Yixin Zhu, Leonidas Guibas

[IROS23] Learning a Causal Transition Model for Object Cutting

Cutting objects into desired fragments is challenging for robots due to the spatially unstructured nature of fragments and the complex …

Zeyu Zhang, Muzhi Han, Baoxiong Jia, Ziyuan Jiao, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

[IROS23] Learning a Causal Transition Model for Object Cutting

[IROS23] Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators

We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior work that primarily …

Yao Su, Jiarui Li, Ziyuan Jiao, Meng Wang, Chi Chu, Hang Li, Yixin Zhu, Hangxin Liu

[IROS23] Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators

[ICRA23] GenDexGrasp: Generalizable Dexterous Grasping

Generating dexterous grasping has been a long-standing and challenging robotic task. Despite recent progress, existing methods …

Puhao Li, Tengyu Liu, Yuyang Li, Yiran Geng, Yixin Zhu, Yaodong Yang, Siyuan Huang

[Engineering23] A Reconfigurable Data Glove for Reconstructing Physical and Virtual Grasps

In this work, we present a reconfigurable data glove design to capture different modes of human hand-object interactions, which are …

Hangxin Liu, Zeyu Zhang, Ziyuan Jiao, Zhenliang Zhang, Minchen Li, Chenfanfu Jiang, Yixin Zhu, Song-Chun Zhu

[Engineering23] A Reconfigurable Data Glove for Reconstructing Physical and Virtual Grasps

Interactive Reasoning

[Robotics meets Cognition] Topics include communication, manipulation, TAMP, teaming, UAV, VR, and XAI.

Zihang Zhao, Yuyang Li, Yida Niu

Aug 1, 2022

Interactive Reasoning