15 citations · 24 across the 19 of their papers we have counts for
17 papers · 1 filter
VIDP: Variable Impedance Diffusion Policy for Compliant Robot Manipulation from Diverse Demonstrations
Hisham Khalil, Neil Fernandes, Thomas M. Kwok +2
Contact-rich manipulation requires precise tracking and mechanical compliance, where variable impedance control can improve robustness in task success, whereas static compliance ca…
Morphology-Conditioned World Model for Cross-Embodiment Quadrupedal Locomotion
Mohamad H. Danesh, Chenhao Li, Amin Abyaneh +5
World models promise a paradigm shift in robotics, where an agent learns the physics of its environment once and then acquires behaviors efficiently. Yet the learned dynamics model…
SLowRL: Safe Low-Rank Adaptation Reinforcement Learning for Locomotion
Elham Daneshmand, Shafeef Omar, Glen Berseth +2
Sim-to-real transfer of locomotion policies often leads to performance degradation due to the inevitable sim-to-real gap. Naively fine-tuning these policies directly on hardware is…
Tactile Modality Fusion for Vision-Language-Action Models
Charlotte Morissette, Amin Abyaneh, Wei-Di Chang +5
We propose TacFiLM, a lightweight modality-fusion approach that integrates visual-tactile signals into vision-language-action (VLA) models. While advances in VLAs have introduced r…
VOCALoco: Viability-Optimized Cost-aware Adaptive Locomotion
Stanley Wu, Mohamad H. Danesh, Simon Li +5
Recent advancements in legged robot locomotion have facilitated traversal over increasingly complex terrains. Despite this progress, many existing approaches rely on end-to-end dee…
Single-Shot Learning of Stable Dynamical Systems for Long-Horizon Manipulation Tasks
Alexandre St-Aubin, Amin Abyaneh, Hsiu-Chin Lin
Mastering complex sequential tasks continues to pose a significant challenge in robotics. While there has been progress in learning long-horizon manipulation tasks, most existing a…