6 papers
Contact-Aware Neural Dynamics
Changwei Jing, Jai Krishna Bandi, Jianglong Ye +4
High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous in…
Learning to Design Soft Hands using Reward Models
Xueqian Bai, Nicklas Hansen, Adabhav Singh +5
Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse…
Object Pose Estimation through Dexterous Touch
Amir-Hossein Shahidzadeh, Jiyue Zhu, Kezhou Chen +4
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occl…
Co-Design of Soft Gripper with Neural Physics
Sha Yi, Xueqian Bai, Adabhav Singh +3
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper…
Humanoid Policy ~ Human Policy
Ri-Zhao Qiu, Shiqi Yang, Xuxin Cheng +12
Training manipulation policies for humanoid robots with diverse data enhances their robustness and generalization across tasks and platforms. However, learning solely from robot de…
Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control
Chenhao Lu, Xuxin Cheng, Jialong Li +6
Humanoid robots require both robust lower-body locomotion and precise upper-body manipulation. While recent Reinforcement Learning (RL) approaches provide whole-body loco-manipulat…