5 papers · 1 filter
Move, don't think: sample-efficient collision avoidance with lossy proximity sensors
Carson Kohlbrenner, Niraj Pudasaini, William Xie +3
Data-driven robots must learn to avoid collisions with as few demonstrations as possible to avoid collecting large datasets of destructive collision examples. We explore whole-body…
GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly
Max Conway, William Xie, Allen Devaraj +14
Disassembling end-of-life electric vehicle (EV) battery packs is dull and dangerous work, performed almost entirely by humans. We present GOLEM (Generalized Open Library of Embodie…
Immersive Social Interaction with VR and LLM-Assisted Humanoids
Niraj Pudasaini, Geeta Chandra Raju Bethala, Pranav Doma +2
Humanoid robots can extend human presence to remote, constrained, or hazardous environments, but existing teleoperation interfaces often require physically demanding motion trackin…
Egocentric Tactile and Proximity Sensors as Observation Priors for Humanoid Collision Avoidance
Carson Kohlbrenner, Niraj Pudasaini, William Xie +3
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. Howe…
FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid
Niraj Pudasaini, Yutong Zhang, Jensen Lavering +4
Maintaining balance under external hand forces is critical for humanoid bimanual manipulation, where interaction forces propagate through the kinematic chain and constrain the feas…