4 papers
VisTacAlign: Co-Training Dexterous Policies on Tactile Human and Robot Demonstrations using Visual-Tactile Alignment
Julien Poffet, Matthew Strong, Ankush Dhawan +5
Human demonstrations are a cheap source of data for dexterous manipulation, but co-training a robot policy on them requires closing the human--robot gap in every modality the polic…
GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interaction
Qingzhou Lu, Yao Feng, Baiyu Shi +3
Humanoid robots are expected to operate in human-centered environments where safe and natural physical interaction is essential. However, most recent reinforcement learning (RL) po…
DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation
Suzannah Wistreich, Baiyu Shi, Stephen Tian +5
Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capa…
Network evolution controlling strain-induced damage and self-healing of elastomers with dynamic bonds
Yikai Yin, Shaswat Mohanty, Christopher B. Cooper +2
Highly stretchable and self-healable supramolecular elastomers are promising materials for future soft electronics, biomimetic systems, and smart textiles, due to their dynamic cro…