5 accepted papers
The adoption of fisheye cameras in robotic manipulation, driven by their exceptionally wide Field of View (FoV), is rapidly outpacing a systematic understanding of their downstream effects on policy learning. This paper presents the first comprehensive empirical study to bridge this gap, rigorously
Turning garments right-side out is a challenging manipulation task: it is highly dynamic, entails rapid contact changes, and is subject to severe visual occlusion. We introduce Right-Side-Out, a zero-shot sim-to-real framework that effectively solves this challenge by exploiting task structures. We …
Intelligent agents progress by continually refining their capabilities through actively exploring environments. Yet robot policies often lack sufficient exploration capability due to action mode collapse. Existing methods that encourage exploration typically rely on random perturbations, which are u…
In recent years, imitation learning has made progress in the field of robotic manipulation. However, it still faces challenges when addressing complex long-horizon tasks with deformable objects, such as high-dimensional state spaces, complex dynamics, and multimodal action distributions. Traditional
Humans can accomplish complex contact-rich tasks using vision and touch, with highly reactive capabilities such as quick adjustments to environmental changes and adaptive control of contact forces; however, this remains challenging for robots. Existing visual imitation learning (IL) approaches rely…