3 citations · 3 across the 13 of their papers we have counts for
18 papers
EgoCPT: Learning Dexterous Manipulation from a Single Ego-Centric Video with Contact-Aware Optimization
Zhixin Sun, Kairui Shi, Tianao Ren +3
While expert demonstrations on real robots are difficult to collect, human ego-centric videos are easy to collect and abundant on the internet. However, learning dexterous manipula…
Lego-Like Stiffness Configuration of Planar Compliant Modules for Task-Specific Flexible Interfaces
Siyue Yao, Xiaochi Xie, Shixuan Zhao +4
Compliant mechanisms provide compact and intrinsic structural compliance for regulating physical interactions between mechanisms and environments. However, different tasks demand d…
Fluorescence-enhanced Whisker Array with Vision-based Deformation Analysis for Underwater Source Localization
Xiaochi Xie, Hao Li, Shixuan Zhao +3
Deep-water biological observation is essential for understanding marine organisms and their interactions with the environment. However, conventional optical and acoustic approaches…
HapticWorld: an Interactive World Simulator with Real-time Torque Feedback
Shaoting Peng, Litian Liang, Yixuan Wang +4
Contact-rich manipulation depends on force sensing that is hard to infer from visual signals alone, both for collecting demonstrations and for training policies. Force-annotated da…
TacClip: a clip-on sensor measures dynamic contact forces without covering the fingerpads
Yuqian Ye, Hao Li, Jingxi Xu +3
TacClip is a minimally encumbering wearable device for recording fingertip deformation caused by contact forces and vibrations. It can be combined with vision- or glove-based hand…
Fiber Bragg Grating Whiskers for Bioinspired Hydrodynamic Perception on Underwater Robots
Hao Li, Tianyu Tu, Siyue Yao +7
Harbor seals track hydrodynamic trails with their vibrissae, enabling passive perception of moving targets in dark or turbid water. Inspired by this capability, we present compact…
MISTac: A Vision-Based Tactile Sensor for Minimally Invasive Surgery
Robin Koch, Annabella Mascot, Rayan Younis +5
Minimally invasive and robot-assisted surgery offer many advantages over traditional open surgery, but deprive surgeons of tactile feedback and the ability to palpate tissue with t…
Multisensory Continual Learning: Adapting Pretrained Visuomotor Policies to Force
Jaden Clark, Changhao Wang, Yihuai Gao +5
Robot manipulation often relies on sensory feedback beyond vision, particularly in contact-rich settings where force, tactile, or audio signals reveal interaction states that are n…
Long-Reach Robotic Cleaning for Lunar Solar Arrays
Stanley Wang, Velin Kojouharov, Long Yin Chung +2
Commercial lunar activity is accelerating the need for reliable surface infrastructure and routine operations to keep it functioning. Maintenance tasks such as inspection, cleaning…
UMI-Underwater: Learning Underwater Manipulation without Underwater Teleoperation
Hao Li, Long Yin Chung, Jack Goler +5
Underwater robotic grasping is difficult due to degraded, highly variable imagery and the expense of collecting diverse underwater demonstrations. We introduce a system that (i) au…
Interdisciplinary Workshop on Mechanical Intelligence: Summary Report
Victoria A. Webster-Wood, Nicholas Gravish, Amir Alavi +37
This report provides a summary of the outcomes of the Interdisciplinary Workshop on Mechanical Intelligence held in 2024. Mechanical Intelligence (MI) represents the phenomenon tha…
In-the-Wild Compliant Manipulation with UMI-FT
Hojung Choi, Yifan Hou, Chuer Pan +5
Many manipulation tasks require careful force modulation. With insufficient force the task may fail, while excessive force could cause damage. The high cost, bulky size and fragili…
SLAP: Slapband-based Autonomous Perching Drone with Failure Recovery for Vertical Tree Trunks
Julia Di, Kenneth A. W. Hoffmann, Tony G. Chen +2
Perching allows unmanned aerial vehicles (UAVs) to reduce energy consumption, remain anchored for surface sampling operations, or stably survey their surroundings. Previous efforts…
Multimodal Sensing for Robot-Assisted Sub-Tissue Feature Detection in Physiotherapy Palpation
Tian-Ao Ren, Jorge Garcia, Seongheon Hong +6
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact mu…
Gentle Object Retraction in Dense Clutter Using Multimodal Force Sensing and Imitation Learning
Dane Brouwer, Joshua Citron, Heather Nolte +2
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult f…
TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types
Yuhao Lin, Yi-Lin Wei, Haoran Liao +6
Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand…
CoinFT: A Coin-Sized, Capacitive 6-Axis Force Torque Sensor for Robotic Applications
Hojung Choi, Jun En Low, Tae Myung Huh +7
We introduce CoinFT, a capacitive 6-axis force/torque (F/T) sensor that is compact, light, low-cost, and robust with an average root-mean-squared error of 0.16 N for force and 1.08…
DexForce: Extracting Force-informed Actions from Kinesthetic Demonstrations for Dexterous Manipulation
Claire Chen, Zhongchun Yu, Hojung Choi +2
Imitation learning requires high-quality demonstrations consisting of sequences of state-action pairs. For contact-rich dexterous manipulation tasks that require dexterity, the act…