1 citations · 2 across the 13 of their papers we have counts for
15 papers
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…
SurgFlow: 3D Object-Centric Contact Flow for Surgical Robot Manipulation
Changwei Chen, Xiao Liang, Yinuo Yang +6
Paired video-action demonstrations enable autonomous surgical behavior, but such data is scarce: robots perform roughly 1% of surgeries, while video-only data is abundant. Learning…
In vivo feasibility study of humanoid robots in surgery
Zekai Liang, Nikita Thareja, Peihan Zhang +7
Recent advances in actuation, control and learning have rapidly pushed humanoid robots from a distant vision towards near-term real-world deployment. Healthcare is a particularly p…
Transferring Contact, Not Just Motion: Compliant Grasping Across Dexterous Hands
Soofiyan Atar, Yao-Ting Huang, Michael Yip
Dexterous grasping depends on contact regulation, not motion alone. Stable manipulation requires fingers to maintain appropriate object loading as contacts slip, deform, or become…
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
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.…
Learning to Nudge: A Scalable Barrier Function Framework for Safe Robot Interaction in Dense Clutter
Haixin Jin, Nikhil Uday Shinde, Soofiyan Atar +5
Robots operating in everyday environments must navigate and manipulate within densely cluttered spaces, where physical contact with surrounding objects is unavoidable. Traditional…
Towards Autonomous Tape Handling for Robotic Wound Redressing
Xiao Liang, Lu Shen, Peihan Zhang +3
Chronic wounds, such as diabetic, pressure, and venous ulcers, affect over 6.5 million patients in the United States alone and generate an annual cost exceeding $25 billion. Despi…
Feedback Matters: Augmenting Autonomous Dissection with Visual and Topological Feedback
Chung-Pang Wang, Changwei Chen, Xiao Liang +3
Autonomous surgical systems must adapt to highly dynamic environments where tissue properties and visual cues evolve rapidly. Central to such adaptability is feedback: the ability…
LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy
Zekai Liang, Xiao Liang, Soofiyan Atar +7
Robotic laparoscopic surgery has gained increasing attention in recent years for its potential to deliver more efficient and precise minimally invasive procedures. However, adoptio…
In-Hand Manipulation of Articulated Tools with Dexterous Robot Hands with Sim-to-Real Transfer
Soofiyan Atar, Daniel Huang, Florian Richter +1
Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynami…
agriFrame: Agricultural framework to remotely control a rover inside a greenhouse environment
Saail Narvekar, Soofiyan Atar, Vishal Gupta +2
The growing demand for innovation in agriculture is essential for food security worldwide and more implicit in developing countries. With growing demand comes a reduction in rapid…
Humanoids in Hospitals: A Technical Study of Humanoid Robot Surrogates for Dexterous Medical Interventions
Soofiyan Atar, Xiao Liang, Calvin Joyce +5
The increasing demand for healthcare workers, driven by aging populations and labor shortages, presents a significant challenge for hospitals. Humanoid robots have the potential to…
OptiGrasp: Optimized Grasp Pose Detection Using RGB Images for Warehouse Picking Robots
Soofiyan Atar, Yi Li, Markus Grotz +3
In warehouse environments, robots require robust picking capabilities to manage a wide variety of objects. Effective deployment demands minimal hardware, strong generalization to n…
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…