Han Zhang

PhD student in robotics @Stanford | Ham radio (DE BI1NWO 73) | Prev @Tsinghua_Uni

[Han Zhang @DoubleHan07]

Collecting manipulation data with DexUMI. Let’s scale up together! 📈
Big shoutout to my amazing project co-lead Mengda @mengdaxu__ , who brought full stack experience, strong system design skills, and unique insight to make this possible! 🙌

[Mengda Xu @mengdaxu__]

Can we collect robot dexterous hand data directly with human hand?

Introducing DexUMI:

0 teleoperation and 0 re-targeting dexterous hand data collection system → autonomously complete precise, long-horizon and contact-rich tasks

Project Page: https://t.co/z3CUS5wgMx

[Suning Huang @suning_huang]

🤖Low-data post-training can teach a VLA policy a new robot skill. But it also makes it too attached to the training demos.

We call this lock-in🔒: the policy can execute the post-training task, yet fails to respond to seemingly obvious prompt changes.

DeLock preserves steerability using only the policy’s own pretrained knowledge. No extra supervision needed!🚀🚀🚀

#Robotics #AI #EmbodiedAI #VLA

[Xiaomeng Xu @XiaomengXu11]

Can we learn whole-body mobile manipulation directly from human demonstrations?

Introducing Whole-Body Mobile Manipulation Interface (HoMMI)

Egocentric + UMI, 0 teleop -> bimanual & whole-body manipulation, long-horizon navigation, active perception

https://t.co/CcZ9ZwfuFr

[Sunday @sundayrobotics]

Introducing ACT-1: The frontier robot AI behind Memo.

ACT-1 enables Memo to perform: 🎭
⏰ Lengthy tasks like cleaning up after your dinner
🦾 Dexterous tasks such as folding socks
☕ Daily delights like making an espresso

How does it work? 🧵

[Han Zhang @DoubleHan07]

I really love the elegant hardware design, especially the glove and gripper. Sunday is making every Sunday brighter. Huge congrats to Cheng, Tony and the team!

[Cheng Chi @chichengcc]

From glove data to long-horizon, dexterous, precise and whole-body manipulation ⚙️ Details in this thread!

[Cheng Chi @chichengcc]

mm level precision beyond actuator limits, so much torque that you need to manage thermals. Owning the whole stack from HW to AI is the only way 🦾

[Haochen Shi @HaochenShi74]

Toddy enjoyed his time in Seoul — his first big trip away from home!😆 He rolled around on wheels, showed off his pull-up skills (Cr: @li_yitang), spoke in the spotlight as a 1.5-year-old, and presented at the poster session.

[Hao-Shu Fang @haoshu_fang]

How do we unlock the full dexterity of robot hands with data, even beyond what teleoperation can achieve?

DEXOP captures natural human manipulation with full-hand tactile & proprio sensing, plus direct force feedback to users, without needing a robot👉https://t.co/rjfQ9nzofm

[Han Zhang @DoubleHan07]

@kikori1906 Yes! Glad to hear another YL on the air 👭

[Han Zhang @DoubleHan07]

@kikori1906 Wow made my night! Thank you Nina and Taka!😊

[Han Zhang @DoubleHan07]

@ja7kpi We (BY1QH) are on 2m MS now. We will adjust our transceiver settings for your setup.

[RoboPapers @RoboPapers]

Collecting dexterous humanoid robot data is difficult to scale. That's why @mengdaxu__ and @DoubleHan07 built DexUMI: a tool for demonstrating how to control a dexterous robot hand, which allows you to quickly collect task data.

Co-hosted by @micoolcho and @chris_j_paxton

[Chris Paxton @chris_j_paxton]

Human hands are incredibly capable manipulators, but it's hard to get high-quality robot data for learning policies. DexUMI provides a solution: a tool by which you can naturally "puppet" a dexterous hand with your own, in order to learn skills that directly transfer to a robot. Learn more ->

[RoboPapers @RoboPapers]

Full episode dropping soon!

Geeking out with @mengdaxu__ @DoubleHan07 on DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation https://t.co/6apEdDrHmh

Co-hosted by @micoolcho @chris_j_paxton

[Han Zhang @DoubleHan07]

@kikori1906 See you at ON80 then…😭

[Han Zhang @DoubleHan07]

@kikori1906 Sorry to hear that.
I’ll be also on air at the following time (all at OL49):
Aug.07
13:56z AO-123
15:13z SO-124
Aug.08
00:43z ISS
Would these be available then?

[Han Zhang @DoubleHan07]

@kikori1906 I’m currently at the intersection of both grids. Try to catch me on the air.

[Han Zhang @DoubleHan07]

@kikori1906 09:42z ISS will be my last operation at OL48 & OL49

[Han Zhang @DoubleHan07]

@ba1pk Still can not find the proper setting for RS-44. During my operation the downlink signal is very weak. Sorry for that…