4 papers
Tendon-Driven Continuum Robot with Modular Stiffness and In-Situ Self Pose Estimation
Guo Ning Sue, Guo Ning, Sue +7
Continuum robots enable smooth shape morphing and safe interaction in confined environments. However, most existing systems are task-specific and depend on external sensing infrast…
GenPHRI: Agentic Generative Simulation for Physical Human-Robot Interaction
Junxiang Wang, Xinwen Xu, Tiancheng Wu +4
Real-world physical human-robot interaction (pHRI) development is costly and slow, while simulation requires substantial task-specific scene and motion authoring. We present GenPHR…
Dexterous Manipulation Policies from RGB Human Videos via 3D Hand-Object Trajectory Reconstruction
Hongyi Chen, Tony Dong, Tiancheng Wu +7
Multi-finger robotic hand manipulation and grasping are challenging due to the high-dimensional action space and the difficulty of acquiring large-scale training data. Existing app…
Geometric Red-Teaming for Robotic Manipulation
Divyam Goel, Yufei Wang, Tiancheng Wu +4
Standard evaluation protocols in robotic manipulation typically assess policy performance over curated, in-distribution test sets, offering limited insight into how systems fail un…