1 citations · 3 across the 12 of their papers we have counts for
4 papers · 1 filter
Frequency-Modulated Piezoelectric Haptic Display
Boyuan Liang, Lingfeng Sun, Masayoshi Tomizuka
We present a frequency-modulated (FM) haptic display based on piezoelectric vibrating actuators. Existing haptic displays commonly encode haptic intensity through the deformation a…
A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation
William Su, Yunosuke Nakamura, Yixiao Wang +6
In-hand assembly is constrained by the need to maintain grasps on two separate parts while controlling their relative motion within a single hand. To enable both in-hand assembly a…
From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention
Sichang Su, Benjamin Yang, Zhiyun Deng +4
A pretrained robot foundation policy may execute most of a long-horizon task yet repeatedly fail at a few critical subtasks. Collecting additional full-task demonstrations for supe…
Diagnosing Compositional Generalization in Sequential Robot Tasks
Yixiao Wang, Cheng-En Wu, Lingfeng Sun +5
Sequential robot manipulation requires policies to execute novel combinations of familiar instruction components. However, collecting demonstrations for all possible instruction tu…