9 papers
PanoVine: Whole-Body Visuomotor Control for Soft Growing Vine Robot
Yimeng Qin, Xiaomeng Xu, William Heap +3
Vine robots, a class of soft, growing robots, are suitable for navigating complex and confined environments due to their compliant bodies and self-supporting growth mechanism. Howe…
Will People Enjoy a Robot Trainer? A Case Study with Snoopie the Pacerbot
Maximilian Du, Jennifer Grannen, Shuran Song +1
The physicality of exercise makes the role of athletic trainers unique. Their physical presence allows them to guide a student through a motion, demonstrate an exercise, and give i…
Minimalist Compliance Control
Haochen Shi, Songbo Hu, Yifan Hou +3
Compliance control is essential for safe physical interaction, yet its adoption is limited by hardware requirements such as force torque sensors. While recent reinforcement learnin…
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…
Locomotion Beyond Feet
Tae Hoon Yang, Haochen Shi, Jiacheng Hu +10
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability…
Vision in Action: Learning Active Perception from Human Demonstrations
Haoyu Xiong, Xiaomeng Xu, Jimmy Wu +3
We present Vision in Action (ViA), an active perception system for bimanual robot manipulation. ViA learns task-relevant active perceptual strategies (e.g., searching, tracking, an…