8 papers
ART-Glove: Articulated Tactile Glove for Contact-Grounded Dexterous Interaction Capture
Changyi Lin, Ding Zhao
We present ART-Glove, an articulated tactile glove designed to capture contact-grounded dexterous demonstrations while preserving human dexterity. ART-Glove makes hand-side contact…
HiPi: Reproducible High-Fidelity Piezoresistive Sensors for Robotic Manipulation
Changyi Lin, Raihan Haque, Hui-Ping Wang +1
Piezoresistive tactile sensors are attractive for robotic manipulation because they are thin, lightweight, low-cost, and scalable to dense large-area sensing. However, existing sys…
LightTact: A Visual-Tactile Fingertip Sensor for Deformation-Independent Contact Sensing
Changyi Lin, Boda Huo, Mingyang Yu +4
Contact often occurs without macroscopic surface deformation, such as during interaction with liquids, semi-liquids, or ultra-soft materials. However, most existing tactile sensors…
APEX: Learning Adaptive High-Platform Traversal for Humanoid Robots
Yikai Wang, Tingxuan Leng, Changyi Lin +5
Humanoid locomotion has advanced rapidly with deep reinforcement learning (DRL), enabling robust feet-based traversal over uneven terrain. Yet platforms beyond leg length remain la…
LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing
Changyi Lin, Yuxin Ray Song, Boda Huo +9
Quadrupedal robots have demonstrated remarkable agility and robustness in traversing complex terrains. However, they struggle with dynamic object interactions, where contact must b…
Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining
Yaru Niu, Yunzhe Zhang, Mingyang Yu +11
Quadrupedal robots have demonstrated impressive locomotion capabilities in complex environments, but equipping them with autonomous versatile manipulation skills in a scalable way…