6 papers · 1 filter
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…