28 citations · 32 across the 9 of their papers we have counts for
9 papers
OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer
Jessica Yin, Haozhi Qi, Youngsun Wi +7
Human video demonstrations provide abundant training data for learning robot policies, but video alone cannot capture the rich contact signals critical for mastering manipulation.…
Decentralized Vision-Based Autonomous Aerial Wildlife Monitoring
Makram Chahine, William Yang, Alaa Maalouf +6
Wildlife field operations demand efficient parallel deployment methods to identify and interact with specific individuals, enabling simultaneous collective behavioral analysis, and…
Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity
Sharanya Venkatesh, Bibit Bianchini, Alp Aydinoglu +2
To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimiz…
A biconvex method for minimum-time motion planning through sequences of convex sets
Tobia Marcucci, Mathew Halm, Will Yang +2
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. Thi…
AAM-SEALS: Developing Aerial-Aquatic Manipulators in SEa, Air, and Land Simulator
William Yang, Karthikeya Kona, Yashveer Jain +4
Current mobile manipulators and high-fidelity simulators lack the ability to seamlessly operate and simulate across integrated environments spanning sea, air, and land. To address…
Dynamic On-Palm Manipulation via Controlled Sliding
William Yang, Michael Posa
Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force c…
Impact-Invariant Control: Maximizing Control Authority During Impacts
William Yang, Michael Posa
When legged robots impact their environment executing dynamic motions, they undergo large changes in their velocities in a short amount of time. Measuring and applying feedback to…
Validating Robotics Simulators on Real-World Impacts
Brian Acosta, William Yang, Michael Posa
A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses ranging from planning and control to training policies with reinforcement learning.…
Impact Invariant Control with Applications to Bipedal Locomotion
William Yang, Michael Posa
When legged robots impact their environment, they undergo large changes in their velocities in a small amount of time. Measuring and applying feedback to these velocities is challe…