9 papers
InsertAnything: Generalizable Contact-Rich Precision Insertion from Simulation to Reality
Zhenghua Ma, Xinpan Meng, Zeyu Liu +4
Contact-rich precision insertion is a key manipulation skill in robotic assembly. Tight clearances make insertion more sensitive to alignment errors and prone to collisions and jam…
CHOREO: Every Humanoid Skill as a Trajectory
Ziyi Sun, Jingwen Chen, Yuxi Wang +4
Recent advances in humanoid robotics have produced diverse skills through reinforcement learning, motion imitation, and generative modeling. Yet these capabilities remain siloed be…
Feeling the Unexpected: ResTacVLA for Contact-Rich Manipulation via Residual Tactile Representation
Pengwei Zhang, Bin Xie, Xinpan Meng +5
Tactile perception is indispensable for contact-rich manipulation, yet integrating it into Vision-Language-Action (VLA) models often induces modality collapse, where high-bandwidth…
GelNeuro: A Sensing-Computing Integrated Neuromorphic Tactile System for Texture Recognition
Luoyang Bian, Xinpan Meng, Zhenghua Ma +2
Neuromorphic visuo-tactile sensing offers a promising paradigm for low-latency and low-power robotic perception. However, existing systems still rely heavily on a host computer for…
Ensuring Interaction Safety in Multitask Exoskeleton Control: A Simulation-Trained Variable Impedance Framework
Muyuan Ma, Houcheng Li, Haotian Zhai +4
Wearable exoskeletons can augment human phys ical capabilities during complex activities. However, ensuring adaptation across diverse tasks while guaranteeing interaction safety re…
From Reach to Insert: Tactile-Augmented Precision Assembly under Sub-Millimeter Tolerances
Xinpan Meng, Siyao Huang, JingPu Yang +6
High-precision assembly frequently involves tight-tolerance insertions, where even slight pose errors can cause jamming or excessive interaction forces, making robust and safe inse…
Motion Adaptation Across Users and Tasks for Exoskeletons via Meta-Learning
Muyuan Ma, Long Cheng, Lijun Han +2
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms rema…
Enhanced Prediction of Multi-Agent Trajectories via Control Inference and State-Space Dynamics
Yu Zhang, Yongxiang Zou, Haoyu Zhang +3
In the field of autonomous systems, accurately predicting the trajectories of nearby vehicles and pedestrians is crucial for ensuring both safety and operational efficiency. This p…
Stabilizing Dynamic Systems through Neural Network Learning: A Robust Approach
Yu Zhang, Haoyu Zhang, Yongxiang Zou +2
Point-to-point and periodic motions are ubiquitous in the world of robotics. To master these motions, Autonomous Dynamic System (DS) based algorithms are fundamental in the domain…