6 papers
Evaluating Lightweight Contact Feedback in Dual-Operator Collaborative Humanoid Teleoperation
Austin Graves, Chuizheng Kong, Yunho Cho +4
Dual-operator humanoid teleoperation enables collaborative manipulation through two separate robots, but operators lack direct awareness of robot-object contact that is normally av…
MicroSplat: Towards Automating 3D Small-Scale Reconstruction
Roman Mineyev, Robert Azarcon, Suvrat Jain +2
Reconstructing sub-millimeter detail of small objects underpins tasks such as circuit-board defect detection, specimen digitization, and archiving. 3D Gaussian Splatting (3DGS) mak…
WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations
Zhenyang Chen, Chuizheng Kong, Chuye Zhang +4
Direct transfer from human demonstration to learnable robot action is a crucial step towards scalable whole-body mobile manipulation. While human data scales better than mobile tel…
A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation
Chuizheng Kong, Yunho Cho, Wonsuhk Jung +11
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undes…
Towards Closing the Loop in Robotic Pollination for Indoor Farming via Autonomous Microscopic Inspection
Chuizheng Kong, Alex Qiu, Idris Wibowo +5
Effective pollination is a key challenge for indoor farming, since bees struggle to navigate without the sun. While a variety of robotic system solutions have been proposed, it rem…
Goal-Reaching Trajectory Design Near Danger with Piecewise Affine Reach-avoid Computation
Long Kiu Chung, Wonsuhk Jung, Chuizheng Kong +1
Autonomous mobile robots must maintain safety, but should not sacrifice performance, leading to the classical reach-avoid problem: find a trajectory that is guaranteed to reach a g…