3 papers
cs.RO2026
TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation
Rishabh Madan, Angchen Xie, Samantha Saak +7
Whole-arm manipulation involves direct contact with the environment while the robot completes a task by distributing contact across multiple links as contacts form, slide, and brea…
cs.RO2026
FADA: Few-Shot Domain Adaptation via Dynamics Alignment for Humanoid Control
Angchen Xie, Nikhil Sobanbabu, Ishayu Shikhare +3
High-precision humanoid control is limited by target-domain dynamics mismatch, where the same control objective can induce different realized motions under changes in terrain, payl…
cs.RO2025
PrioriTouch: Adapting to User Contact Preferences for Whole-Arm Physical Human-Robot Interaction
Rishabh Madan, Jiawei Lin, Mahika Goel +10
Physical human-robot interaction (pHRI) requires robots to adapt to individual contact preferences, such as where and how much force is applied. Identifying preferences is difficul…