Humans can teleoperate robots to accomplish complex manipulation tasks. Imitation
learning has emerged as a powerful framework that leverages human teleoperated …

While humans can use parts of their arms other than the hands for manipulations like
gathering and supporting, whether robots can effectively learn and perform the same type of …

Teleoperation is a crucial tool for collecting human demonstrations, but controlling robots
with bimanual dexterous hands remains a challenge. Existing teleoperation systems …

We present Im2Flow2Act, a scalable learning framework that enables robots to acquire real-
world manipulation skills without the need of real-world robot training data. The key idea …

Learning from demonstrations has shown to be an effective approach to robotic
manipulation, especially with the recently collected large-scale robot data with teleoperation …

We present Universal Manipulation Interface (UMI)--a data collection and policy learning
framework that allows direct skill transfer from in-the-wild human demonstrations to …

The increasing affordability of robot hardware is accelerating the integration of robots into
everyday activities. However, training a robot to automate a task requires expensive …

In most contact-rich manipulation tasks, humans apply time-varying forces to the target
object, compensating for inaccuracies in the vision-guided hand trajectory. However, current …

Upper limb prostheses are commonly mounted to the human residual limb by a passive
socket. By this design, the sensitive residual limb is exposed to high reaction wrenches …

Bowden cables serve as essential components in various mechanical systems, facilitating
power transmission from remote actuators to specific destinations. The pretension of …