4 accepted papers
For long-horizon multi-task robotic manipulation, hierarchical approaches provide an effective way to combine high-level language-based task planning with low-level vision-language based sub-task execution. Then, we propose a framework that integrates a two-stage task planner with a multimodal low-l
Tactile texture is vital for robotic manipulation but challenging for camera vision-based observation. To address this, we propose TactileAloha, an integrated tactile-vision robotic system built upon Aloha, with a tactile sensor mounted on the gripper to capture fine-grained texture information and …
Tactile texture is vital for robotic manipulation but challenging for camera vision-based observation. To address this, we propose TactileAloha, an integrated tactile-vision robotic system built upon Aloha, with a tactile sensor mounted on the gripper to capture fine-grained texture information and
In the real world, unfolding the garment to a specific plane direction and vertical facing can make the downstream task, i.e. folding, more convenient and effective. Then, we propose a policy that strategically selects action between the dynamic fling and quasi-static pick&place to effectively unfol