4 papers
Functional Force-Aware Retargeting from Virtual Human Demos to Soft Robot Policies
Uksang Yoo, Mengjia Zhu, Evan Pezent +8
We introduce SoftAct, a framework for teaching soft robot hands to perform human-like manipulation skills by explicitly reasoning about contact forces. Leveraging immersive virtual…
SOFTMAP: Sim2Real Soft Robot Forward Modeling via Topological Mesh Alignment and Physics Prior
Ziyong Ma, Uksang Yoo, Jonathan Francis +3
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to comple…
Adversarial Game-Theoretic Algorithm for Dexterous Grasp Synthesis
Yu Chen, Botao He, Yuemin Mao +7
For many complex tasks, multi-finger robot hands are poised to revolutionize how we interact with the world, but reliably grasping objects remains a significant challenge. We focus…
ExpReS-VLA: Specializing Vision-Language-Action Models Through Experience Replay and Retrieval
Shahram Najam Syed, Yatharth Ahuja, Arthur Jakobsson +1
Vision-Language-Action (VLA) models like OpenVLA demonstrate impressive zero-shot generalization across robotic manipulation tasks but struggle to adapt to specific deployment envi…