Yixin Zhu | PKU
Yixin Zhu | PKU
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Manipulation
[T-RO24] Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects
Integrating robotics into human-centric environments such as homes, necessitates advanced manipulation skills as robotic devices will …
Zihang Zhao
,
Yuyang Li
,
Wanlin Li
,
Zhenghao Qi
,
Lecheng Ruan
,
Yixin Zhu
,
Kaspar Althoefer
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[IROS24] Ag2Manip: Learning Novel Manipulation Skills with Agent-Agnostic Visual and Action Representations
Autonomous robotic systems capable of learning novel manipulation tasks are poised to transform industries from manufacturing to …
Puhao Li
,
Tengyu Liu
,
Yuyang Li
,
Muzhi Han
,
Haoran Geng
,
Shu Wang
,
Yixin Zhu
,
Song-Chun Zhu
,
Siyuan Huang
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Poster
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Web
[IROS24] PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environments
Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping …
Kairui Ding
,
Boyuan Chen
,
Ruihai Wu
,
Yuyang Li
,
Zongzheng Zhang
,
Huan-Ang Gao
,
Siqi Li
,
Yixin Zhu
,
Guyue Zhou
,
Hao Dong
,
Hao Zhao
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Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy
In real-world scenarios, objects often require repositioning and reorientation before they can be grasped, a process known as pre-grasp …
Tianhao Wu
,
Yunchong Gan
,
Mingdong Wu
,
Jingbo Cheng
,
Yaodong Yang
,
Yixin Zhu
,
Hao Dong
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[RA-L24] Grasp Multiple Objects with One Hand
The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such …
Yuyang Li
,
Bo Liu
,
Yiran Geng
,
Puhao Li
,
Yaodong Yang
,
Yixin Zhu
,
Tengyu Liu
,
Siyuan Huang
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[ICLR24] SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulation
Humans demonstrate remarkable skill in transferring manipulation abilities across objects of varying shapes, poses, and appearances, a …
Qianxu Wang
,
Haotong Zhang
,
Congyue Deng
,
Yang You
,
Hao Dong
,
Yixin Zhu
,
Leonidas Guibas
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Poster
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北大新闻网
北大AI院官微
[IROS23] Learning a Causal Transition Model for Object Cutting
Cutting objects into desired fragments is challenging for robots due to the spatially unstructured nature of fragments and the complex …
Zeyu Zhang
,
Muzhi Han
,
Baoxiong Jia
,
Ziyuan Jiao
,
Yixin Zhu
,
Song-Chun Zhu
,
Hangxin Liu
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Poster
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[IROS23] Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators
We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior work that primarily …
Yao Su
,
Jiarui Li
,
Ziyuan Jiao
,
Meng Wang
,
Chi Chu
,
Hang Li
,
Yixin Zhu
,
Hangxin Liu
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Poster
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[ICRA23] GenDexGrasp: Generalizable Dexterous Grasping
Generating dexterous grasping has been a long-standing and challenging robotic task. Despite recent progress, existing methods …
Puhao Li
,
Tengyu Liu
,
Yuyang Li
,
Yiran Geng
,
Yixin Zhu
,
Yaodong Yang
,
Siyuan Huang
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北大AI院官网
北大AI院官微
[Engineering23] A Reconfigurable Data Glove for Reconstructing Physical and Virtual Grasps
In this work, we present a reconfigurable data glove design to capture different modes of human hand-object interactions, which are …
Hangxin Liu
,
Zeyu Zhang
,
Ziyuan Jiao
,
Zhenliang Zhang
,
Minchen Li
,
Chenfanfu Jiang
,
Yixin Zhu
,
Song-Chun Zhu
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