5 papers
Inference-time Policy Steering via Vision and Touch
Yilin Wu, Zilin Si, Zeynep Temel +2
Inference-time steering adapts pre-trained generative robot policies during deployment by verifying candidate actions before execution. While prior methods typically perform this v…
TacO: Benchmarking Tactile Sensors for Object Manipulation
Anya Zorin, Zilin Si, Myungsun Park +11
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insuffi…
PuffyBot: An Untethered Shape Morphing Robot for Multi-environment Locomotion
Shashwat Singh, Zilin Si, Zeynep Temel
Amphibians adapt their morphologies and motions to accommodate movement in both terrestrial and aquatic environments. Inspired by these biological features, we present PuffyBot, an…
A multi-modal tactile fingertip design for robotic hands to enhance dexterous manipulation
Zhuowei Xu, Zilin Si, Kevin Zhang +2
Tactile sensing holds great promise for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing…
ExoStart: Efficient learning for dexterous manipulation with sensorized exoskeleton demonstrations
Zilin Si, Jose Enrique Chen, M. Emre Karagozler +15
Recent advancements in teleoperation systems have enabled high-quality data collection for robotic manipulators, showing impressive results in learning manipulation at scale. This…