Sitemap
A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
Posts
portfolio
publications
Learning pregrasp manipulation of objects from ungraspable poses
Published in ICRA 2020, 2020
Using pregrasp manipulation to grasp large, flat objects laying on the table against a wall.
Recommended citation: Sun, Zhaole, et al. "Learning pregrasp manipulation of objects from ungraspable poses." 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020. https://arxiv.org/abs/2002.06344
Object-Centric Representation Learning with Generative Spatial-Temporal Factorization
Published in Advances in Neural Information Processing Systems (NeurIPS 2021), 2021
Disentalngling object-centric representations from a video.
Recommended citation: Li, Nanbo, Muhammad Ahmed Raza, Wenbin Hu, Zhaole Sun, and Robert Fisher. "Object-centric representation learning with generative spatial-temporal factorization." Advances in Neural Information Processing Systems 34 (2021): 10772-10783. https://proceedings.neurips.cc/paper/2021/hash/593906af0d138e69f49d251d3e7cbed0-Abstract.html
A Robust Deformable Linear Object Perception Pipeline in 3D: From Segmentation to Reconstruction
Published in IEEE Robotics and Automation Letters, 2023
Detect cable-like objects in 3D from a RGBD image with occulusions.
Recommended citation: Zhaole, Sun, Hang Zhou, Li Nanbo, Longfei Chen, Jihong Zhu, and Robert B. Fisher. "A Robust Deformable Linear Object Perception Pipeline in 3D: From Segmentation to Reconstruction." IEEE Robotics and Automation Letters 9, no. 1 (2023): 843-850. https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10333979
DexDLO: Learning Goal-Conditioned Dexterous Policy for Dynamic Manipulation of Deformable Linear Objects
Published in ICRA 2024, 2024
Using a simulated hand to grab a tube/cable.
Recommended citation: Zhaole, Sun, Jihong Zhu, and Robert B. Fisher. "DexDLO: Learning Goal-Conditioned Dexterous Policy for Dynamic Manipulation of Deformable Linear Objects." arXiv preprint arXiv:2312.15204 (2023). https://arxiv.org/abs/2312.15204
Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation
Published in , 2025
Using a multifingered hand to perform dexterous cable manipulation.
Recommended citation: Zhaole Sun, Xiao Gao, Xiaofeng Mao, Jihong Zhu, Aude Billard, and Robert B. Fisher. "Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation." arXiv preprint arXiv:2502.00396 (2025). https://arxiv.org/abs/2502.00396
Suction Leap-Hand: Suction Cups on a Multi-fingered Hand Enable Embodied Dexterity and In-Hand Teleoperation
Published in ICRA 2026, Best Presentation Paper on CoRL 2025 Workshop Dexterous Manipulation, 2026
Using a simulated hand to grab a tube/cable.
Recommended citation: Zhaole Sun, Xiaofeng Mao, Jihong Zhu, Yuanlong Zhang, and Robert B. Fisher. "Suction Leap-Hand: Suction Cups on a Multi-fingered Hand Enable Embodied Dexterity and In-Hand Teleoperation." arXiv preprint arXiv:2509.20646 (2025). https://arxiv.org/abs/2509.20646