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🤖 What if a humanoid robot could make a hamburger from raw ingredients—all the way to your plate? 🔥 Excited to announce ViTacFormer: our new pipeline for next-level dexterous manipulation with active vision + high-resolution touch. 🎯 For the first time ever, we demonstrate ~2.5 minutes of continuous, autonomous... show more

Haoran Geng

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96,048 views • 1 year ago •via X (Twitter)

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Haoran Geng1 year ago

Our hardware setup features an active vision system, a bi-manual robot arm, and two high-DoF dexterous hands, SharpaWave, equipped with high-resolution tactile sensors. To enable rich data collection, we use a teleoperation system with a precision exoskeleton for fine-grained arm and finger control, plus a VR interface to control the camera and guide demonstrations.

Haoran Geng1 year ago

ViTacFormer is a unified visuo-tactile framework for dexterous manipulation. At its core is a cross-modal representation that fuses visual and tactile inputs via cross-attention layers. Our key insight: predicting future tactile states is more informative than simply perceiving current ones. We validate this both conceptually and empirically. To achieve this, we introduce a tactile prediction head that encourages the shared latent space to capture touch dynamics. The model then auto-regressively leverages predicted tactile signals to generate precise, long-horizon actions.

Haoran Geng1 year ago

We benchmarked our proposed pipeline against strong baselines across four challenging manipulation tasks. ViTacFormer significantly outperforms existing methods—achieving around 50% improvement in success rate.

Haoran Geng1 year ago

Our ablation study highlights the contribution of each component, confirming their importance to the overall pipeline’s performance.

Haoran Geng1 year ago

Here we also show the failure mode from baseline models, highlighting the importance of our tactile signal input, touch processing module, and cross-modal representation learning.

Haoran Geng1 year ago

We then explored the full capabilities of our system—and found it can handle super long-horizon tasks end-to-end. 🍔 Sit back and enjoy the hamburger-making policy in action!

Haoran Geng1 year ago

This work wouldn’t have been possible without the incredible support from great collaborators @cosm_para13983 and @KaifengZhang4, and my amazing advisors @JitendraMalikCV and @pabbeel. Thank you all! 🙏 Code is fully released; check out our: Homepage: Paper link: Github:

Annie Lane1 year ago

AI isn’t one trade—it’s a layered ecosystem. Chips led, apps followed… what’s next?” 🧠 We mapped the shift across AI subsectors

RobotSoul1 year ago

Awesome!

Jul3n31 year ago

It could significantly alter job roles and industry standards in food service.

Bianca Cortexfield1 year ago

Achieving full automation in food preparation presents complex challenges but could optimize consistency and hygiene.

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106,075 views • 1 year ago

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69,604 views • 7 months ago

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46,125 views • 6 months ago

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331,849 views • 2 months ago

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1,346,370 views • 1 month ago

My vision is for Philadelphia to have a government that people can see, touch, and feel. That is why today, I am especially excited to announce the launch of our brand new initiative, Philly Stat 360, a platform that will use cutting-edge technology and data analysis to make good on that vision for our City and all of our residents The website promotes accountability and transparency, and will demystify government so that my Administration can deliver on the promises we make and the services we provide to all Philadelphians.

Mayor Cherelle L. Parker

18,730 views • 1 year ago

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CyberRobo

22,118 views • 6 months ago

Excited to introduce OmniClone, a robust teleoperation system for humanoid mobile manipulation. While systems like TWIST2 and SONIC paved the way, we put efforts into solving the critical stability and scaling gaps. 1/ 📊 Moving past "vibe-based" testing. We’ve built a comprehensive diagnostic benchmark to systematically evaluate whole-body teleoperation. No more trial-and-error—get the actionable insights needed for true policy optimization. 2/ 👤 Universal Human-to-Robot Mapping. Teleop often breaks when switching operators. OmniClone mitigates biases from hardware fluctuations and, crucially, diverse human body shapes, ensuring high-stability control regardless of the person in the suit. 3/ 🚀 System Optimizations for Whole-body Manipulation Policy. By optimizing for affordability and reproducibility, OmniClone provides the high-fidelity pipeline necessary to collect data and train humanoid whole-body policies at scale. fully The model checkpoints and deploy code are now fully released—welcome to play with it! 📦 📄 Paper: 🌐 Project: 💻 Code:

Excited to introduce OmniClone, a robust teleoperation system for humanoid mobile manipulation. While systems like TWIST2 and SONIC paved the way, we put efforts into solving the critical stability and scaling gaps. 1/ 📊 Moving past "vibe-based" testing. We’ve built a comprehensive diagnostic benchmark to systematically evaluate whole-body teleoperation. No more trial-and-error—get the actionable insights needed for true policy optimization. 2/ 👤 Universal Human-to-Robot Mapping. Teleop often breaks when switching operators. OmniClone mitigates biases from hardware fluctuations and, crucially, diverse human body shapes, ensuring high-stability control regardless of the person in the suit. 3/ 🚀 System Optimizations for Whole-body Manipulation Policy. By optimizing for affordability and reproducibility, OmniClone provides the high-fidelity pipeline necessary to collect data and train humanoid whole-body policies at scale. fully The model checkpoints and deploy code are now fully released—welcome to play with it! 📦 📄 Paper: 🌐 Project: 💻 Code:

Siyuan Huang

14,137 views • 6 months ago