no code implementations • 26 Feb 2024 • Dingkun Guo, Yuqi Xiang, Shuqi Zhao, Xinghao Zhu, Masayoshi Tomizuka, Mingyu Ding, Wei Zhan
With these two capabilities, PhyGrasp is able to accurately assess the physical properties of object parts and determine optimal grasping poses.
no code implementations • 17 Dec 2023 • Xinghao Zhu, Devesh K. Jha, Diego Romeres, Lingfeng Sun, Masayoshi Tomizuka, Anoop Cherian
Automating the assembly of objects from their parts is a complex problem with innumerable applications in manufacturing, maintenance, and recycling.
no code implementations • 11 Dec 2023 • Lingfeng Sun, Devesh K. Jha, Chiori Hori, Siddarth Jain, Radu Corcodel, Xinghao Zhu, Masayoshi Tomizuka, Diego Romeres
Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI.
no code implementations • 7 Oct 2023 • Yuqi Xiang, Feitong Chen, Qinsi Wang, Yang Gang, Xiang Zhang, Xinghao Zhu, Xingyu Liu, Lin Shao
In this work, we introduce $\textit{Diff-Transfer}$, a novel framework leveraging differentiable physics simulation to efficiently transfer robotic skills.
no code implementations • 4 Oct 2023 • Mingxiao Huo, Mingyu Ding, Chenfeng Xu, Thomas Tian, Xinghao Zhu, Yao Mu, Lingfeng Sun, Masayoshi Tomizuka, Wei Zhan
We introduce Task Fusion Decoder as a plug-and-play embedding translator that utilizes the underlying relationships among these perceptual skills to guide the representation learning towards encoding meaningful structure for what's important for all perceptual skills, ultimately empowering learning of downstream robotic manipulation tasks.
no code implementations • 29 Mar 2022 • Xinghao Zhu, Siddarth Jain, Masayoshi Tomizuka, Jeroen van Baar
Vision-based tactile sensors typically utilize a deformable elastomer and a camera mounted above to provide high-resolution image observations of contacts.
no code implementations • 29 Jan 2021 • Shiyu Jin, Xinghao Zhu, Changhao Wang, Masayoshi Tomizuka
Peg-in-hole assembly is a challenging contact-rich manipulation task.
Robotics
no code implementations • 15 Apr 2019 • Yongxiang Fan, Xinghao Zhu, Masayoshi Tomizuka
Searching precision grasps on the object represented by point cloud, is challenging due to the complex object shape, high-dimensionality, collision and undesired properties of the sensing and positioning.
Robotics