19 citations · 24 across the 28 of their papers we have counts for
11 papers · 1 filter
OmniVIC: A Self-Improving Variable Impedance Controller with Vision-Language In-Context Learning for Safe Robotic Manipulation
Heng Zhang, Wei-Hsing Huang, Gokhan Solak +1
We present OmniVIC, a universal variable impedance controller (VIC) enhanced by a vision language model (VLM), which improves safety and adaptation in any contact-rich robotic mani…
Imitation-Guided Bimanual Planning for Stable Manipulation under Changing External Forces
Kuanqi Cai, Chunfeng Wang, Zeqi Li +5
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and a…
ActivePose: Active 6D Object Pose Estimation and Tracking for Robotic Manipulation
Sheng Liu, Zhe Li, Weiheng Wang +6
Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fix…
Online Learning for Vibration Suppression in Physical Robot Interaction using Power Tools
Gokhan Solak, Arash Ajoudani
Vibration suppression is an important capability for collaborative robots deployed in challenging environments such as construction sites. We study the active suppression of vibrat…
A Survey on Imitation Learning for Contact-Rich Tasks in Robotics
Toshiaki Tsuji, Yasuhiro Kato, Gokhan Solak +4
This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the en…
Context-aware collaborative pushing of heavy objects using skeleton-based intention prediction
Gokhan Solak, Gustavo J. G. Lahr, Idil Ozdamar +1
In physical human-robot interaction, force feedback has been the most common sensing modality to convey the human intention to the robot. It is widely used in admittance control to…
Improving Failure Prediction in Aircraft Fastener Assembly Using Synthetic Data in Imbalanced Datasets
Gustavo J. G. Lahr, Ricardo V. Godoy, Thiago H. Segreto +4
Automating aircraft manufacturing still relies heavily on human labor due to the complexity of the assembly processes and customization requirements. One key challenge is achieving…
Scaling Laws in Scientific Discovery with AI and Robot Scientists
Pengsong Zhang, Heng Zhang, Huazhe Xu +7
Scientific discovery is poised for rapid advancement through advanced robotics and artificial intelligence. Current scientific practices face substantial limitations as manual expe…
Bresa: Bio-inspired Reflexive Safe Reinforcement Learning for Contact-Rich Robotic Tasks
Heng Zhang, Gokhan Solak, Arash Ajoudani
Ensuring safety in reinforcement learning (RL)-based robotic systems is a critical challenge, especially in contact-rich tasks within unstructured environments. While the state-of-…
RPF-Search: Field-based Search for Robot Person Following in Unknown Dynamic Environments
Hanjing Ye, Kuanqi Cai, Yu Zhan +3
Autonomous robot person-following (RPF) systems are crucial for personal assistance and security but suffer from target loss due to occlusions in dynamic, unknown environments. Cur…
Passivity-Centric Safe Reinforcement Learning for Contact-Rich Robotic Tasks
Heng Zhang, Gokhan Solak, Sebastian Hjorth +1
Reinforcement learning (RL) has achieved remarkable success in various robotic tasks; however, its deployment in real-world scenarios, particularly in contact-rich environments, of…