19 citations · 40 across the 12 of their papers we have counts for
11 papers · 1 filter
Dataset-Free Compliant Humanoid Loco-Manipulation with Dynamic Online Posture
Seungho Yeom, Zhenyu Wu, Jaeyoung Huh +4
Most humanoid loco-manipulation controllers require human motion data to learn whole-body coordination and posture, leaving policies reliant on external sources to provide this dat…
Remember what you did?: Learning Behavioral Memories for Partially Observable Object Manipulation
Kuancheng Wang, Seungho Yeom, Jinglin Cao +3
Long horizon, contact-rich manipulation is inherently partially observable. This is as a single visual observation rarely captures a robot's full action context, including prior at…
SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning
Anlun Huang, Zhenyu Wu, Soofiyan Atar +2
Stabilizing unsecured payloads against the inherent oscillations of dynamic bipedal locomotion remains a critical engineering bottleneck for humanoids in unstructured environments.…
SurgIRL: Towards Life-Long Learning for Surgical Automation by Incremental Reinforcement Learning
Yun-Jie Ho, Zih-Yun Chiu, Yuheng Zhi +1
Surgical automation holds immense potential to improve the outcome and accessibility of surgery. Recent studies use reinforcement learning to learn policies that automate different…
KineDepth: Utilizing Robot Kinematics for Online Metric Depth Estimation
Soofiyan Atar, Yuheng Zhi, Florian Richter +1
Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D…
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
Nikhil U. Shinde, Zih-Yun Chiu, Florian Richter +4
Inaccurate tool localization is one of the main reasons for failures in automating surgical tasks. Imprecise robot kinematics and noisy observations caused by the poor visual acuit…
Finding Biomechanically Safe Trajectories for Robot Manipulation of the Human Body in a Search and Rescue Scenario
Elizabeth Peiros, Zih-Yun Chiu, Yuheng Zhi +2
There has been increasing awareness of the difficulties in reaching and extracting people from mass casualty scenarios, such as those arising from natural disasters. While platform…
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control
Mrinal Verghese, Nikhil Das, Yuheng Zhi +1
Real-time robot motion planning in complex high-dimensional environments remains an open problem. Motion planning algorithms, and their underlying collision checkers, are crucial t…
Data-driven Actuator Selection for Artificial Muscle-Powered Robots
Taylor West Henderson, Yuheng Zhi, Angela Liu +1
Even though artificial muscles have gained popularity due to their compliant, flexible, and compact properties, there currently does not exist an easy way of making informed decisi…
DiffCo: Auto-Differentiable Proxy Collision Detection with Multi-class Labels for Safety-Aware Trajectory Optimization
Yuheng Zhi, Nikhil Das, Michael Yip
The objective of trajectory optimization algorithms is to achieve an optimal collision-free path between a start and goal state. In real-world scenarios where environments can be c…
Augmented Reality Predictive Displays to Help Mitigate the Effects of Delayed Telesurgery
Florian Richter, Yifei Zhang, Yuheng Zhi +2
Surgical robots offer the exciting potential for remote telesurgery, but advances are needed to make this technology efficient and accurate to ensure patient safety. Achieving thes…