Yixin Zhu | PKU
Yixin Zhu | PKU
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Tactile
[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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[RA-L24] MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery
Robot-assisted minimally invasive surgery (RAMIS) provides substantial benefits over traditional open and laparoscopic methods. …
Wanlin Li
,
Zihang Zhao
,
Leiyao Cui
,
Weiyi Zhang
,
Hangxin Liu
,
Li-an Li
,
Yixin Zhu
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[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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Web
[ScienceRobotics19] A tale of two explanations: Enhancing human trust by explaining robot behavior
The ability to provide comprehensive explanations of chosen actions is a hallmark of intelligence. Lack of this ability impedes the …
Mark Edmonds
,
Feng Gao
,
Hangxin Liu
,
Xu Xie
,
Siyuan Qi
,
Brandon Rothrock
,
Yixin Zhu
,
Ying Nian Wu
,
Hongjing Lu
,
Song-Chun Zhu
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Smithsonian
IEEE Spectrum
UCLA Samueli School of Engineering
Web
[ICRA19] High-Fidelity Grasping in Virtual Reality using a Glove-based System
This paper presents a design that jointly provides hand pose sensing, hand localization, and haptic feedback to facilitate real-time …
Hangxin Liu
,
Zhenliang Zhang
,
Xu Xie
,
Yixin Zhu
,
Yue Liu
,
Yongtian Wang
,
Song-Chun Zhu
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[ICRA18] Unsupervised Learning using Hierarchical Models for Hand-Object Interactions
Contact forces of the hand are visually unobservable, but play a crucial role in understanding hand-object interactions. In this paper, …
Xu Xie
,
Hangxin Liu
,
Mark Edmonds
,
Feng Gao
,
Siyuan Qi
,
Yixin Zhu
,
Brandon Rothrock
,
Song-Chun Zhu
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Poster
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[IROS17] A Glove-based System for Studying Hand-Object Manipulation via Joint Pose and Force Sensing
We present a design of an easy-to-replicate glove-based system that can reliably perform simultaneous hand pose and force sensing in …
Hangxin Liu
,
Xu Xie
,
Mark Edmonds
,
Feng Gao
,
Yixin Zhu
,
Veronica Santos
,
Brandon Rothrock
,
Song-Chun Zhu
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[IROS17] Feeling the Force: Integrating Force and Pose for Fluent Discovery through Imitation Learning to Open Medicine Bottles
Learning complex robot manipulation policies for real-world objects is challenging, often requiring significant tuning within …
Mark Edmonds
,
Feng Gao
,
Xu Xie
,
Hangxin Liu
,
Siyuan Qi
,
Yixin Zhu
,
Brandon Rothrock
,
Song-Chun Zhu
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