General in-hand object rotation with vision and touch
We introduce Rotateit, a system that enables fingertip-based object rotation along multiple
axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it …
axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it …
Unidexgrasp: Universal robotic dexterous grasping via learning diverse proposal generation and goal-conditioned policy
In this work, we tackle the problem of learning universal robotic dexterous grasping from a
point cloud observation under a table-top setting. The goal is to grasp and lift up objects in …
point cloud observation under a table-top setting. The goal is to grasp and lift up objects in …
Unidexgrasp++: Improving dexterous grasping policy learning via geometry-aware curriculum and iterative generalist-specialist learning
We propose a novel, object-agnostic method for learning a universal policy for dexterous
object grasping from realistic point cloud observations and proprioceptive information under …
object grasping from realistic point cloud observations and proprioceptive information under …
Rotating without seeing: Towards in-hand dexterity through touch
Tactile information plays a critical role in human dexterity. It reveals useful contact
information that may not be inferred directly from vision. In fact, humans can even perform in …
information that may not be inferred directly from vision. In fact, humans can even perform in …
Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system
Vision-based teleoperation offers the possibility to endow robots with human-level
intelligence to physically interact with the environment, while only requiring low-cost camera …
intelligence to physically interact with the environment, while only requiring low-cost camera …
Robot synesthesia: In-hand manipulation with visuotactile sensing
Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual
feedback. However, the distinct nature of these modalities poses significant challenges. In …
feedback. However, the distinct nature of these modalities poses significant challenges. In …
ArtiGrasp: Physically plausible synthesis of bi-manual dexterous grasping and articulation
We present ArtiGrasp, a novel method to synthesize bimanual hand-object interactions that
include grasping and articulation. This task is challenging due to the diversity of the global …
include grasping and articulation. This task is challenging due to the diversity of the global …
Learning score-based grasping primitive for human-assisting dexterous grasping
The use of anthropomorphic robotic hands for assisting individuals in situations where
human hands may be unavailable or unsuitable has gained significant importance. In this …
human hands may be unavailable or unsuitable has gained significant importance. In this …
Sequential dexterity: Chaining dexterous policies for long-horizon manipulation
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 …
different from one another. Such long-horizon, complex tasks highlight the potential of …
Stanford-ORB: a real-world 3d object inverse rendering benchmark
We introduce Stanford-ORB, a new real-world 3D Object inverse Rendering Benchmark.
Recent advances in inverse rendering have enabled a wide range of real-world applications …
Recent advances in inverse rendering have enabled a wide range of real-world applications …