7 papers
Semigroup-JEPA: Latent Dynamics Consistency for Zero-Shot Physics Generalization
Andy Zeyi Liu, Haoran Sun, Lucas Baker +2
Joint-Embedding Predictive Architecture (JEPA) world models learn a compact latent representation of the world that supports prediction and planning, but their capability to learn…
asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics
Fang Wan, Guangyi Huang, Tianyu Wu +5
We introduce asRoBallet, to the best of our knowledge, the first end-to-end reinforcement learning (RL) locomotion policy deployed on a humanoid ballbot hardware platform. Historic…
One-DoF Robotic Design of Overconstrained Limbs with Energy-Efficient, Self-Collision-Free Motion
Yuping Gu, Bangchao Huang, Haoran Sun +6
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but…
MagiClaw: A Dual-Use, Vision-Based Soft Gripper for Bridging the Human Demonstration to Robotic Deployment Gap
Tianyu Wu, Xudong Han, Haoran Sun +4
The transfer of manipulation skills from human demonstration to robotic execution is often hindered by a "domain gap" in sensing and morphology. This paper introduces MagiClaw, a v…
One Fling to Goal: Environment-aware Dynamics for Goal-conditioned Fabric Flinging
Linhan Yang, Lei Yang, Haoran Sun +5
Fabric manipulation dynamically is commonly seen in manufacturing and domestic settings. While dynamically manipulating a fabric piece to reach a target state is highly efficient,…
Overconstrained Locomotion
Haoran Sun, Bangchao Huang, Zishang Zhang +11
This paper studies the design, control, and learning of a novel robotic limb that produces overconstrained locomotion by employing the Bennett linkage for motion generation, capabl…
Jigsaw-based Benchmarking for Learning Robotic Manipulation
Xiaobo Liu, Fang Wan, Sheng Ge +3
Benchmarking provides experimental evidence of the scientific baseline to enhance the progression of fundamental research, which is also applicable to robotics. In this paper, we p…