6 papers
B-spline Policy: Accelerating Manipulation Policies via B-spline Action Representations
Xiaoshen Han, Haoyu Xiong, Haonan Chen +4
In this work, we present B-spline Policy (BSP), an action representation designed for accelerating robot manipulation policies. Rather than predicting discrete-time action chunks,…
OPENTOUCH: Bringing Full-Hand Touch to Real-World Interaction
Yuxin Ray Song, Jinzhou Li, Rao Fu +12
The human hand is our primary interface to the physical world, yet egocentric perception rarely knows when, where, or how forcefully it makes contact. Robust wearable tactile senso…
Generalized Dynamics Generation towards Scannable Physical World Model
Yichen Li, Zhiyi Li, Brandon Feng +2
Digital twin worlds with realistic interactive dynamics presents a new opportunity to develop generalist embodied agents in scannable environments with complex physical behaviors.…
MultiModal Action Conditioned Video Generation
Yichen Li, Antonio Torralba
Current video models fail as world model as they lack fine-graiend control. General-purpose household robots require real-time fine motor control to handle delicate tasks and urgen…
WiReSens Toolkit: An Open-source Platform towards Accessible Wireless Tactile Sensing
Devin Murphy, Junyi Zhu, Paul Pu Liang +2
Past research has widely explored the design and fabrication of resistive matrix-based tactile sensors as a means of creating touch-sensitive devices. However, developing portable,…
Fits like a Flex-Glove: Automatic Design of Personalized FPCB-Based Tactile Sensing Gloves
Devin Murphy, Yichen Li, Crystal Owens +6
Resistive tactile sensing gloves have captured the interest of researchers spanning diverse domains, such as robotics, healthcare, and human-computer interaction. However, existing…