7 papers
HumanoidVLM: Vision-Language-Guided Impedance Control for Contact-Rich Humanoid Manipulation
Yara Mahmoud, Yasheerah Yaqoot, Miguel Altamirano Cabrera +1
Humanoid robots must adapt their contact behavior to diverse objects and tasks, yet most controllers rely on fixed, hand-tuned impedance gains and gripper settings. This paper intr…
SafeHumanoid: VLM-RAG-driven Control of Upper Body Impedance for Humanoid Robot
Yara Mahmoud, Jeffrin Sam, Nguyen Khang +6
Safe and trustworthy Human Robot Interaction (HRI) requires robots not only to complete tasks but also to regulate impedance and speed according to scene context and human proximit…
PhysicalAgent: Towards General Cognitive Robotics with Foundation World Models
Artem Lykov, Jeffrin Sam, Hung Khang Nguyen +6
We introduce PhysicalAgent, an agentic framework for robotic manipulation that integrates iterative reasoning, diffusion-based video generation, and closed-loop execution. Given a…
VLH: Vision-Language-Haptics Foundation Model
Luis Francisco Moreno Fuentes, Muhammad Haris Khan, Miguel Altamirano Cabrera +5
We present VLH, a novel Visual-Language-Haptic Foundation Model that unifies perception, language, and tactile feedback in aerial robotics and virtual reality. Unlike prior work th…
FlyHaptics: Flying Multi-contact Haptic Interface
Luis Moreno, Miguel Altamirano Cabrera, Muhammad Haris Khan +4
This work presents FlyHaptics, an aerial haptic interface tracked via a Vicon optical motion capture system and built around six five-bar linkage assemblies enclosed in a lightweig…
HapticVLM: VLM-Driven Texture Recognition Aimed at Intelligent Haptic Interaction
Muhammad Haris Khan, Miguel Altamirano Cabrera, Dmitrii Iarchuk +4
This paper introduces HapticVLM, a novel multimodal system that integrates vision-language reasoning with deep convolutional networks to enable real-time haptic feedback. HapticVLM…