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PHASE: Compliance-Enabled Tactile Phase Retrieval for Few-Shot Insertion Learning
Jeremy Siburian, Cristian C. Beltran-Hernandez, Tatsuya Matsushima +3
Contact-rich assembly tasks such as peg-in-hole insertion remain difficult to learn from limited demonstrations. While retrieval-augmented imitation learning, which augments target…
CLAP: Direct VLM-to-VLA Adaptation via Language-Action Grounding
Yuri Ishitoya, Jeremy Siburian, Masashi Hamaya +3
Vision-language-action models (VLAs) inherit semantic capabilities from pretrained VLMs, yet large-scale post-training on robot data and architectural modifications can reshape the…
Refinement of Accelerated Demonstrations via Incremental Iterative Reference Learning Control for Fast Contact-Rich Imitation Learning
Koki Yamane, Cristian C. Beltran-Hernandez, Steven Oh +2
Fast execution of contact-rich manipulation is critical for practical deployment, yet providing fast demonstrations for imitation learning (IL) remains challenging: humans cannot d…
Simulation-Driven Evolutionary Motion Parameterization for Contact-Rich Granular Scooping with a Soft Conical Robotic Hand
Yongliang Wang, Cristian C. Beltran-Hernandez, Tomoya Takahashi +1
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reco…
A Soft Wrist with Anisotropic and Selectable Stiffness for Robust Robot Learning in Contact-rich Manipulation
Steven Oh, Tomoya Takahashi, Cristian C. Beltran-Hernandez +2
Contact-rich manipulation tasks in unstructured environments pose significant robustness challenges for robot learning, where unexpected collisions can cause damage and hinder poli…
Stable In-hand Manipulation for a Lightweight Four-motor Prosthetic Hand
Yuki Kuroda, Tomoya Takahashi, Cristian C. Beltran-Hernandez +2
Electric prosthetic hands should be lightweight to decrease the burden on the user, shaped like human hands for cosmetic purposes, and designed with motors enclosed inside to prote…
Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist
Tatsuya Kamijo, Mai Nishimura, Nodoka Shibasaki +3
Tactile memory, the ability to store and retrieve touch-based experience, is critical for contact-rich tasks such as key insertion under uncertainty. To replicate this capability,…