1 citations · 2 across the 13 of their papers we have counts for
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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…