RealTwin: Concept Graph Representation and Grounding Framework for Reality-Preserving Digital Twin Reconstruction
A novel approach combining Y and Z for state-of-the-art results.
zisu-li
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1 min read
Learning Object Properties Using Robot Proprioception via Differentiable Robot-Object Interaction
Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object …
peter-yichen-chen
Thin-Shell Object Manipulations with Differentiable Physics Simulations
In this work, we aim to teach robots to manipulate various thin-shell materials. Prior works studying thin-shell object manipulation mostly rely on heuristic policies or learn …
yian-wang
Learning to Jointly Understand Visual and Tactile Signals
Modeling and analyzing object and shape has been well studied in the past. However, manipulation of these complex tools and articulated objects remains difficult for autonomous …
yichen-li
DiffTactile: A Physics-Based Differentiable Tactile Simulator for Contact-Rich Robotic Manipulation
We introduce DIFFTACTILE, a physics-based differentiable tactile simulation system designed to enhance robotic manipulation with dense and physically accurate tactile feedback. In …
zilin-si
Directly 3D Printed, Pneumatically Actuated Multi-Material Robotic Hand
Soft robotic manipulators with many degrees of freedom can carry out complex tasks safely around humans. However, manufacturing of soft robotic hands with several degrees of …
hanna-matusik
Liquids Identification and Manipulation via Digitally Fabricated Impedance Sensors
Despite recent exponential advancements in computer vision and reinforcement learning, it remains challenging for robots to interact with liquids. These challenges are particularly …
junyi-zhu
Towards Cooperative Flight Control Using Visual-Attention
The cooperation of a human pilot with an autonomous agent during flight control realizes parallel autonomy. We propose an air-guardian system that facilitates cooperation between a …
lianhao-yin
A Modular Bio-inspired Robotic Hand with High Sensitivity
While parallel grippers and multi-fingered robotic hands are well developed and commonly used in structured settings, it remains a challenge in robotics to design a highly …
ActionSense: A Multimodal Dataset for Human Activities Using Wearable Sensors in a Kitchen Environment
This paper introduces ActionSense, a multimodal dataset and recording framework with an emphasis on wearable sensing in a kitchen environment. It provides rich, synchronized data …
joseph-delpreto