SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulation

no code implementations • 25 Oct 2023 • Qianxu Wang, Haotong Zhang, Congyue Deng, Yang You, Hao Dong, Yixin Zhu, Leonidas Guibas

Central to SparseDFF is a feature refinement network, optimized with a contrastive loss between views and a point-pruning mechanism for feature continuity.

One-Shot Learning

ImageManip: Image-based Robotic Manipulation with Affordance-guided Next View Selection

no code implementations • 13 Oct 2023 • Xiaoqi Li, Yanzi Wang, Yan Shen, Ponomarenko Iaroslav, Haoran Lu, Qianxu Wang, Boshi An, Jiaming Liu, Hao Dong

This framework is designed to capture multiple perspectives of the target object and infer depth information to complement its geometry.

Object Robot Manipulation

Learning a Universal Human Prior for Dexterous Manipulation from Human Preference

no code implementations • 10 Apr 2023 • Zihan Ding, Yuanpei Chen, Allen Z. Ren, Shixiang Shane Gu, Qianxu Wang, Hao Dong, Chi Jin

Generating human-like behavior on robots is a great challenge especially in dexterous manipulation tasks with robotic hands.

Reinforcement Learning (RL) Robot Manipulation