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cs.RO2026
ACTS: Learning Visuo-Tactile World Models from Human Physical Interaction
Yuxiang Ma, Weihan Xu, Pengfei Ye +5
Abstract Action-conditioned world models for contact-rich manipulation require data that captures how contact forms, slides, and releases under varying force. Such data are slow to…
cs.RO2025
LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing
Changyi Lin, Yuxin Ray Song, Boda Huo +9
Quadrupedal robots have demonstrated remarkable agility and robustness in traversing complex terrains. However, they struggle with dynamic object interactions, where contact must b…
cs.RO2024
SODA: a Soft Origami Dynamic utensil for Assisted feeding
Yuxin Ray Song, Shufan Wang
SODA aims to revolutionize assistive feeding systems by designing a multi-purpose utensil using origami-inspired artificial muscles. Traditional utensils, such as forks and spoons,…