4 papers · 1 filter
Lightweight Dynamic Modeling of Cable-Driven Continuum Robots Based on Actuation-Space Energy Formulation
Fangju Yang, Hang Yang, Ibrahim Alsarraj +2
Cable-driven continuum robots (CDCRs) require accurate, real-time dynamic models for high-speed dynamics prediction or model-based control, making such capability an urgent need. I…
AVO: Amortized Value Optimization for Contact Mode Switching in Multi-Finger Manipulation
Adam Hung, Fan Yang, Abhinav Kumar +4
Dexterous manipulation tasks often require switching between different contact modes, such as rolling, sliding, sticking, or non-contact contact modes. When formulating dexterous m…
Diffusing Trajectory Optimization Problems for Recovery During Multi-Finger Manipulation
Abhinav Kumar, Fan Yang, Sergio Aguilera Marinovic +3
Multi-fingered hands are emerging as powerful platforms for performing fine manipulation tasks, including tool use. However, environmental perturbations or execution errors can imp…
AnoF-Diff: One-Step Diffusion-Based Anomaly Detection for Forceful Tool Use
Yating Lin, Zixuan Huang, Fan Yang +1
Multivariate time-series anomaly detection, which is critical for identifying unexpected events, has been explored in the field of machine learning for several decades. However, di…