Search Results for author: Yuzhe Qin

Found 23 papers, 8 papers with code

CyberDemo: Augmenting Simulated Human Demonstration for Real-World Dexterous Manipulation

no code implementations22 Feb 2024 Jun Wang, Yuzhe Qin, Kaiming Kuang, Yigit Korkmaz, Akhilan Gurumoorthy, Hao Su, Xiaolong Wang

We introduce CyberDemo, a novel approach to robotic imitation learning that leverages simulated human demonstrations for real-world tasks.

Data Augmentation Imitation Learning

DexTouch: Learning to Seek and Manipulate Objects with Tactile Dexterity

no code implementations23 Jan 2024 Kang-Won Lee, Yuzhe Qin, Xiaolong Wang, Soo-Chul Lim

In this paper, we introduce a multi-finger robot system designed to search for and manipulate objects using the sense of touch without relying on visual information.

Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing

no code implementations4 Dec 2023 Ying Yuan, Haichuan Che, Yuzhe Qin, Binghao Huang, Zhao-Heng Yin, Kang-Won Lee, Yi Wu, Soo-Chul Lim, Xiaolong Wang

In this paper, we introduce a system that leverages visual and tactile sensory inputs to enable dexterous in-hand manipulation.

GenSim: Generating Robotic Simulation Tasks via Large Language Models

1 code implementation2 Oct 2023 Lirui Wang, Yiyang Ling, Zhecheng Yuan, Mohit Shridhar, Chen Bao, Yuzhe Qin, Bailin Wang, Huazhe Xu, Xiaolong Wang

Collecting large amounts of real-world interaction data to train general robotic policies is often prohibitively expensive, thus motivating the use of simulation data.

Code Generation

AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System

no code implementations10 Jul 2023 Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, Dieter Fox

For real-world experiments, AnyTeleop can outperform a previous system that was designed for a specific robot hardware with a higher success rate, using the same robot.

Imitation Learning

DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objects

no code implementations CVPR 2023 Chen Bao, Helin Xu, Yuzhe Qin, Xiaolong Wang

On the other hand, operating with a multi-finger robot hand will allow better approximation to human behavior and enable the robot to operate on diverse articulated objects.

Benchmarking Decision Making +2

EasyHeC: Accurate and Automatic Hand-eye Calibration via Differentiable Rendering and Space Exploration

no code implementations2 May 2023 Linghao Chen, Yuzhe Qin, Xiaowei Zhou, Hao Su

Hand-eye calibration is a critical task in robotics, as it directly affects the efficacy of critical operations such as manipulation and grasping.

ContactArt: Learning 3D Interaction Priors for Category-level Articulated Object and Hand Poses Estimation

no code implementations2 May 2023 Zehao Zhu, Jiashun Wang, Yuzhe Qin, Deqing Sun, Varun Jampani, Xiaolong Wang

We propose a new dataset and a novel approach to learning hand-object interaction priors for hand and articulated object pose estimation.

Hand Pose Estimation Object

Rotating without Seeing: Towards In-hand Dexterity through Touch

no code implementations20 Mar 2023 Zhao-Heng Yin, Binghao Huang, Yuzhe Qin, Qifeng Chen, Xiaolong Wang

Relying on touch-only sensing, we can directly deploy the policy in a real robot hand and rotate novel objects that are not presented in training.


Abstract-to-Executable Trajectory Translation for One-Shot Task Generalization

1 code implementation14 Oct 2022 Stone Tao, Xiaochen Li, Tongzhou Mu, Zhiao Huang, Yuzhe Qin, Hao Su

In the abstract environment, complex dynamics such as physical manipulation are removed, making abstract trajectories easier to generate.

Few-Shot Imitation Learning Reinforcement Learning (RL)

Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations

no code implementations11 Jul 2022 Jianglong Ye, Jiashun Wang, Binghao Huang, Yuzhe Qin, Xiaolong Wang

We will first convert the large-scale human-object interaction trajectories to robot demonstrations via motion retargeting, and then use these demonstrations to train CGF.

Human-Object Interaction Detection motion retargeting

From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation

no code implementations26 Apr 2022 Yuzhe Qin, Hao Su, Xiaolong Wang

We propose to perform imitation learning for dexterous manipulation with multi-finger robot hand from human demonstrations, and transfer the policy to the real robot hand.

Imitation Learning

Vision-Guided Quadrupedal Locomotion in the Wild with Multi-Modal Delay Randomization

1 code implementation29 Sep 2021 Chieko Sarah Imai, Minghao Zhang, Yuchen Zhang, Marcin Kierebinski, Ruihan Yang, Yuzhe Qin, Xiaolong Wang

While Reinforcement Learning (RL) provides a promising paradigm for agile locomotion skills with vision inputs in simulation, it is still very challenging to deploy the RL policy in the real world.

Reinforcement Learning (RL)

DexMV: Imitation Learning for Dexterous Manipulation from Human Videos

1 code implementation12 Aug 2021 Yuzhe Qin, Yueh-Hua Wu, Shaowei Liu, Hanwen Jiang, Ruihan Yang, Yang Fu, Xiaolong Wang

While significant progress has been made on understanding hand-object interactions in computer vision, it is still very challenging for robots to perform complex dexterous manipulation.

Imitation Learning motion retargeting +1

O2O-Afford: Annotation-Free Large-Scale Object-Object Affordance Learning

1 code implementation29 Jun 2021 Kaichun Mo, Yuzhe Qin, Fanbo Xiang, Hao Su, Leonidas Guibas

Contrary to the vast literature in modeling, perceiving, and understanding agent-object (e. g., human-object, hand-object, robot-object) interaction in computer vision and robotics, very few past works have studied the task of object-object interaction, which also plays an important role in robotic manipulation and planning tasks.


Single RGB-D Camera Teleoperation for General Robotic Manipulation

no code implementations28 Jun 2021 Quan Vuong, Yuzhe Qin, Runlin Guo, Xiaolong Wang, Hao Su, Henrik Christensen

We propose a teleoperation system that uses a single RGB-D camera as the human motion capture device.

CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Clouds

1 code implementation ICCV 2021 Yijia Weng, He Wang, Qiang Zhou, Yuzhe Qin, Yueqi Duan, Qingnan Fan, Baoquan Chen, Hao Su, Leonidas J. Guibas

For the first time, we propose a unified framework that can handle 9DoF pose tracking for novel rigid object instances as well as per-part pose tracking for articulated objects from known categories.

Pose Tracking

A phase field model for mass transport with semi-permeable interfaces

no code implementations11 Mar 2021 Yuzhe Qin, Huaxiong Huang, Yi Zhu, Chun Liu, Shixin Xu

Numerical simulations first illustrate the consistency of theoretical results on the sharp interface limit.

Numerical Analysis Numerical Analysis 76Z99, 92B05, 76R50

SAPIEN: A SimulAted Part-based Interactive ENvironment

1 code implementation CVPR 2020 Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, Li Yi, Angel X. Chang, Leonidas J. Guibas, Hao Su

To achieve this task, a simulated environment with physically realistic simulation, sufficient articulated objects, and transferability to the real robot is indispensable.


S4G: Amodal Single-view Single-Shot SE(3) Grasp Detection in Cluttered Scenes

1 code implementation31 Oct 2019 Yuzhe Qin, Rui Chen, Hao Zhu, Meng Song, Jing Xu, Hao Su

Grasping is among the most fundamental and long-lasting problems in robotics study.

Composing Task-Agnostic Policies with Deep Reinforcement Learning

no code implementations ICLR 2020 Ahmed H. Qureshi, Jacob J. Johnson, Yuzhe Qin, Taylor Henderson, Byron Boots, Michael C. Yip

The composition of elementary behaviors to solve challenging transfer learning problems is one of the key elements in building intelligent machines.

Decision Making Motion Planning +3

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