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cs.RO2026
Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks
Jan Schneider, Mridul Mahajan, Le Chen +4
Tendon drives paired with soft muscle actuation enable faster and safer robots while potentially accelerating skill acquisition. Still, these systems are rarely used in practice du…
cs.RO2025
Dexterous Robotic Piano Playing at Scale
Le Chen, Yi Zhao, Jan Schneider +7
Endowing robot hands with human-level dexterity has been a long-standing goal in robotics. Bimanual robotic piano playing represents a particularly challenging task: it is high-dim…
cs.RO2024
RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands
Yi Zhao, Le Chen, Jan Schneider +5
It has been a long-standing research goal to endow robot hands with human-level dexterity. Bi-manual robot piano playing constitutes a task that combines challenges from dynamic ta…