21 citations · 22 across the 6 of their papers we have counts for
7 papers
Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation
Jiahe Pan, Stelian Coros, Jitendra Malik +1
A primary bottleneck in contact-rich manipulation is the difficulty of collecting real-world data. Sim-to-real reinforcement learning offers a scalable alternative, but the simulat…
Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation
Jiahe Pan, Jiaxu Xing, Rudolf Reiter +3
Learning control policies in simulation enables rapid, safe, and cost-effective development of advanced robotic capabilities. However, transferring these policies to the real world…
Assisting MoCap-Based Teleoperation of Robot Arm using Augmented Reality Visualisations
Qiushi Zhou, Antony Chacon, Jiahe Pan +1
Teleoperating a robot arm involves the human operator positioning the robot's end-effector or programming each joint. Whereas humans can control their own arms easily by integratin…
OfficeMate: Pilot Evaluation of an Office Assistant Robot
Jiahe Pan, Sarah Schömbs, Yan Zhang +3
Office Assistant Robots (OARs) offer a promising solution to proactively provide in-situ support to enhance employee well-being and productivity in office spaces. We introduce Offi…
Using Fitts' Law to Benchmark Assisted Human-Robot Performance
Jiahe Pan, Jonathan Eden, Denny Oetomo +1
Shared control systems aim to combine human and robot abilities to improve task performance. However, achieving optimal performance requires that the robot's level of assistance ad…
A Review of Differentiable Simulators
Rhys Newbury, Jack Collins, Kerry He +4
Differentiable simulators continue to push the state of the art across a range of domains including computational physics, robotics, and machine learning. Their main value is the a…
Effects of Shared Control on Cognitive Load and Trust in Teleoperated Trajectory Tracking
Jiahe Pan, Jonathan Eden, Denny Oetomo +1
Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overloa…