4 papers · 1 filter
Real-Time Shape Control of Multi-Segment Soft Robotic Arms Using Koopman Operators with Global and Local Observables
Jiahe Wang, Eron Ristich, Sultan Haidar Ali +5
Multi-segment soft robotic arms can continuously reconfigure their body shapes for safe interaction, but tip control alone is insufficient for constrained-space tasks. Therefore, s…
Cross-Embodiment Robot Manipulation via a Unified Hand Action Space
Luis Felipe Casas, Robert Teal, Keval Shah +3
Robot manipulation policies are typically tied to specific robotic hand embodiments, limiting the transfer of learned behaviors across platforms with different kinematic structures…
ContactGaussian-WM: Learning Physics-Grounded World Model from Videos
Meizhong Wang, Wanxin Jin, Kun Cao +2
Developing world models that understand complex physical interactions is essential for advancing robotic planning and simulation.However, existing methods often struggle to accurat…
Where to Touch, How to Contact: A Hierarchical RL-MPC Framework for Geometry-Aware Sim-to-Real Manipulation
Zhixian Xie, Yu Xiang, Michael Posa +1
A key challenge in contact-rich dexterous manipulation is the need to jointly reason over global geometry and nonsmooth contact dynamics. End-to-end policies bypass this complexity…