The hand palm plays a crucial, active role in human grasping and manipulation tasks.
However, in many of the currently available robotic hands, the palm is just a passive support …

Amidst the wide popularity of imitation learning algorithms in robotics, their properties
regarding hyperparameter sensitivity, ease of training, data efficiency, and performance …

Visual imitation learning has achieved impressive progress in learning unimanual
manipulation tasks from a small set of visual observations, thanks to the latest advances in …

In order for a bimanual robot to manipulate an object that is held by both hands, it must
construct motion plans such that the transformation between its end effectors remains fixed …

Visual imitation learning provides efficient and intuitive solutions for robotic systems to
acquire novel manipulation skills. However, simultaneously learning geometric task …

Bimanual manipulation is critical to many robotics applications. In contrast to single-arm
manipulation, bimanual manipulation tasks are challenging due to higher-dimensional …

Aiming to replicate human-like dexterity, perceptual experiences, and motion patterns, we
explore learning from human demonstrations using a bimanual system with multifingered …

Manipulating objects with two multi-fingered hands has been a long-standing challenge in
robotics, attributed to the contact-rich nature of many manipulation tasks and the complexity …

Future robots operating in fast-changing anthropomorphic environments need to be reactive,
safe, flexible, and intuitively use both arms (comparable to humans) to handle task-space …

Developing physically assistive robots capable of dressing assistance has the potential to
significantly improve the lives of the elderly and disabled population. However, most robotics …