IEEE

Chain-of-Modality: Learning Manipulation Programs from Multimodal Human Videos with Vision-Language-Models

Abstract: Learning to perform manipulation tasks from human videos is a promising approach for teaching robots. However, many manipulation tasks require changing control parameters during task ...
IEEE

Dexterous Pre-Grasp Manipulation for Human-Like Functional Categorical Grasping: Deep Reinforcement Learning and Grasp Representations

Abstract: Many objects, such as tools and household items, can be used only if grasped in a very specific way—grasped functionally. Often, a direct functional grasp is not possible, though. We propose ...