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We present a method for teaching dexterous manipulation tasks to robots from human hand motion demonstrations.
A deep learning framework for character motion synthesis and editing
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Attention is all you need
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Yu Rong, Takaaki Shiratori, and Hanbyul Joo · 2021
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Robotic telekinesis: Learning a robotic hand imitator by watching humans on youtube
Aravind Sivakumar, Kenneth Shaw, and Deepak Pathak · 2022
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Dexmv: Imitation learning for dexterous manipulation from human videos
Yuzhe Qin, Yueh-Hua Wu, Shaowei Liu, Hanwen Jiang, Ruihan Yang, Yang Fu, and Xiaolong Wang · 2022
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Humanconquad: human motion control of quadrupedal robots using deep reinforcement learning
Sunwoo Kim, Maks Sorokin, Jehee Lee, and Sehoon Ha · 2022
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Multi-finger grasping like humans
Yuming Du, Philippe Weinzaepfel, Vincent Lepetit, and Romain Brégier · 2022
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Contact transfer: A direct, user-driven method for human to robot transfer of grasps and manipulations
Arjun Lakshmipathy, Dominik Bauer, Cornelia Bauer, and Nancy S Pollard · 2022
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Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system
Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, and Dieter Fox · 2023
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Dexterous imitation made easy: A learning-based framework for efficient dexterous manipulation
Sridhar Pandian Arunachalam, Sneha Silwal, Ben Evans, and Lerrel Pinto · 2023
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Holo-dex: Teaching dexterity with immersive mixed reality
Sridhar Pandian Arunachalam, Irmak Güzey, Soumith Chintala, and Lerrel Pinto · 2023
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Gello: A general, low-cost, and intuitive teleoperation framework for robot manipulators
Philipp Wu, Yide Shentu, Zhongke Yi, Xingyu Lin, and Pieter Abbeel · 2023
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Ace: Adversarial correspondence embedding for cross morphology motion retargeting from human to nonhuman characters
Tianyu Li, Jungdam Won, Alexander Clegg, Jeonghwan Kim, Akshara Rai, and Sehoon Ha · 2023
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Videodex: Learning dexterity from internet videos
Kenneth Shaw, Shikhar Bahl, and Deepak Pathak · 2023
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Ace: A cross-platform visual-exoskeletons system for low-cost dexterous teleoperation
Shiqi Yang, Minghuan Liu, Yuzhe Qin, Runyu Ding, Jialong Li, Xuxin Cheng, Ruihan Yang, Sha Yi, and Xiaolong Wang · 2024
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Bunny-visionpro: Real-time bimanual dexterous teleoperation for imitation learning
Runyu Ding, Yuzhe Qin, Jiyue Zhu, Chengzhe Jia, Shiqi Yang, Ruihan Yang, Xiaojuan Qi, and Xiaolong Wang · 2024
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Bimanual dexterity for complex tasks
Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu, Haoyu Xiong, Russell Mendonca, and Deepak Pathak · 2024
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Omnih2o: Universal and dexterous human-to-humanoid whole-body teleoperation and learning
Tairan He, Zhengyi Luo, Xialin He, Wenli Xiao, Chong Zhang, Weinan Zhang, Kris Kitani, Changliu Liu, and Guanya Shi · 2024
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Learning human-to-humanoid real-time whole-body teleoperation
Tairan He, Zhengyi Luo, Wenli Xiao, Chong Zhang, Kris Kitani, Changliu Liu, and Guanya Shi · 2024
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Locomotion-action-manipulation: Synthesizing human-scene interactions in complex 3d environments
Jiye Lee and Hanbyul Joo · 2023
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Learning dexterous manipulation from exemplar object trajectories and pre-grasps
Sudeep Dasari, Abhinav Gupta, and Vikash Kumar · 2023
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Reconstructing hands in 3d with transformers
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Mocap everyone everywhere: Lightweight motion capture with smartwatches and a head-mounted camera
Jiye Lee and Hanbyul Joo · 2024
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Dexcap: Scalable and portable mocap data collection system for dexterous manipulation
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Open-television: teleoperation with immersive active visual feedback
Xuxin Cheng, Jialong Li, Shiqi Yang, Ge Yang, and Xiaolong Wang · 2024
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Humanplus: Humanoid shadowing and imitation from humans
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Crossloco: Human motion driven control of legged robots via guided unsupervised reinforcement learning
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One-shot transfer of long-horizon extrinsic manipulation through contact retargeting
Albert Wu, Ruocheng Wang, Sirui Chen, Clemens Eppner, and C Karen Liu · 2024
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Kinematic motion retargeting for contact-rich anthropomorphic manipulations
Arjun S Lakshmipathy, Jessica K Hodgins, and Nancy S Pollard · 2024
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Hrp: Human affordances for robotic pre-training
Mohan Kumar Srirama, Sudeep Dasari, Shikhar Bahl, and Abhinav Gupta · 2024
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Quasisim: Parameterized quasi-physical simulators for dexterous manipulations transfer
Xueyi Liu, Kangbo Lyu, Jieqiong Zhang, Tao Du, and Li Yi · 2024
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Jeonghwan Kim, Jisoo Kim, Jeonghyeon Na, and Hanbyul Joo · 2024
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