1 citations · 1 across the 9 of their papers we have counts for
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Viability-Preserving Passive Torque Control
Zizhe Zhang, Yicong Wang, Zhiquan Zhang +2
Conventional passivity-based torque controllers for manipulators are typically unconstrained, which can lead to safety violations under external perturbations. In this paper, we em…
Flow with the Force Field: Learning 3D Compliant Flow Matching Policies from Force and Demonstration-Guided Simulation Data
Tianyu Li, Yihan Li, Zizhe Zhang +1
While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explic…
VLMgineer: Vision Language Models as Robotic Toolsmiths
George Jiayuan Gao, Tianyu Li, Junyao Shi +4
Tool design and use reflect the ability to understand and manipulate the physical world through creativity, planning, and foresight. As such, these capabilities are often regarded…
Elastic Motion Policy: An Adaptive Dynamical System for Robust and Efficient One-Shot Imitation Learning
Tianyu Li, Sunan Sun, Shubhodeep Shiv Aditya +1
Behavior cloning (BC) has become a staple imitation learning paradigm in robotics due to its ease of teaching robots complex skills directly from expert demonstrations. However, BC…