7 papers
Think Like a World Model, Act Like a VLA: Distilling World-Model Representations into Compact Robot Policies
Trung Dao, Sankalp Yamsani, Jaden Park +2
Vision-Language-Action (VLA) models map observations to actions with no objective that accounts for how the world responds, so their robustness is bounded primarily by data coverag…
Kitchen Robotic Manipulation utilizing Foundation Models
Myung-Hwan Jeon, Sankalp Yamsani, Joohyung Kim
Deploying robots in everyday human environments requires perception systems that are both robust and adaptable to diverse, dynamic conditions. In this work, we present a modular pe…
Tactile-Proprioceptive Sensor Fusion for Contact Wrench Estimation in Whole-Body Physical Human-Robot Interaction
Junha Min, Junghyeon Ma, Jiwung Kwon +3
Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localizatio…
Gait-Level Motion Design and Evaluation Framework for Grasp-Based Dynamic Locomotion in Microgravity
Chaerim Moon, Joohyung Kim, Justin K. Yim
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic traversal requir…
TRIP-Bag: A Portable Teleoperation System for Plug-and-Play Robotic Arms and Leaders
Noboru Myers, Sankalp Yamsani, Obin Kwon +1
Large scale, diverse demonstration data for manipulation tasks remains a major challenge in learning-based robot policies. Existing in-the-wild data collection approaches often rel…
CHILD (Controller for Humanoid Imitation and Live Demonstration): a Whole-Body Humanoid Teleoperation System
Noboru Myers, Obin Kwon, Sankalp Yamsani +1
Recent advances in teleoperation have demonstrated robots performing complex manipulation tasks. However, existing works rarely support whole-body joint-level teleoperation for hum…
PAPRLE (Plug-And-Play Robotic Limb Environment): A Modular Ecosystem for Robotic Limbs
Obin Kwon, Sankalp Yamsani, Noboru Myers +5
We introduce PAPRLE (Plug-And-Play Robotic Limb Environment), a modular ecosystem that enables flexible placement and control of robotic limbs. With PAPRLE, a user can change the a…