From the 1 of 4 linked papers with an AI index.
4 papers
TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation
Rishabh Madan, Angchen Xie, Samantha Saak +7
The paper introduces TACTIC, a receding‑horizon controller that combines RGB‑D vision and distributed tactile sensing with a contact‑centric predictive model to plan and execute wh…
FADA: Few-Shot Domain Adaptation via Dynamics Alignment for Humanoid Control
Angchen Xie, Nikhil Sobanbabu, Ishayu Shikhare +3
High-precision humanoid control is limited by target-domain dynamics mismatch, where the same control objective can induce different realized motions under changes in terrain, payl…
RIO: Flexible Real-Time Robot I/O for Cross-Embodiment Robot Learning
Pablo Ortega-Kral, Eliot Xing, Arthur Bucker +13
Despite recent efforts to collect multi-task, multi-embodiment datasets, to design recipes for training Vision-Language-Action models (VLAs), and to showcase these models on differ…
PrioriTouch: Adapting to User Contact Preferences for Whole-Arm Physical Human-Robot Interaction
Rishabh Madan, Jiawei Lin, Mahika Goel +10
Physical human-robot interaction (pHRI) requires robots to adapt to individual contact preferences, such as where and how much force is applied. Identifying preferences is difficul…