3 citations · 4 across the 10 of their papers we have counts for
3 papers · 2 filters
Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control
Alexander Schperberg, Yeping Wang, Stefano Di Cairano
Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm…
Stiffness Copilot: An Impedance Policy for Contact-Rich Teleoperation
Yeping Wang, Zhengtong Xu, Pornthep Preechayasomboon +4
In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff t…
Contact-Grounded Policy: Dexterous Visuotactile Policy with Generative Contact Grounding
Zhengtong Xu, Yeping Wang, Ben Abbatematteo +4
Contact-rich dexterous manipulation with multi-finger hands remains an open challenge in robotics because task success depends on multi-point contacts that continuously evolve and…