Showing 2026Show all
3 papers · 1 filter
cs.RO2026
Whole-Body Dexterity
Conor Mc Gartoll, An Dang, Pranay Thangeda +5
Current humanoid dexterous manipulation remains largely confined to end-effectors and simple grasps, falling short of humans' ability to engage the entire body by bracing and slidi…
cs.RO2026
HULK: Learning Whole-Body Forceful Loco-Manipulation for Humanoids
An Dang, Arturo Flores Alvarez, Yu-Ming Chen +5
Humanoid loco-manipulation of large, heavy objects demands forceful interaction across the entire body. However, such payloads shift a humanoid's center of mass and impose sustaine…
cs.RO2026
HydroShear: Hydroelastic Shear Simulation for Tactile Sim-to-Real Reinforcement Learning
An Dang, Jayjun Lee, Mustafa Mukadam +4
In this paper, we address the problem of tactile sim-to-real policy transfer for contact-rich tasks. Existing methods primarily focus on vision-based sensors and emphasize image re…