10 papers
PhoneBot: A Low-Cost Open Humanoid Robot Platform Reusing Smartphones
Ruochen Hou, Quanyou Wang, Daniel Koh +1
The adoption of humanoid robots in education and research remains limited by high hardware costs, complex sensing systems, and substantial computational requirements. This paper pr…
Visible Touch: Rendering Contact for Visuomotor Policies
Metin Alp Dogan, Edward Sun, Feng Xu +4
Integrating contact information into visuomotor policies remains an open problem. Touch is essential to robust manipulation, yet most modern policies, including pretrained vision-l…
DexDirect: Direct Kinesthetic Arm Guidance for Efficient Dexterous Demonstration Collection
Beom Jun Kim, Shiu-Jen Wang, Jonathan Liu +7
Scalable collection of dexterous manipulation demonstrations remains a major bottleneck for robot learning. High-fidelity interfaces often require costly hardware and extensive set…
RAVEN: Reinforcement-Adaptive Visibility-Graph Planning for Robust Humanoid Navigation with Collision-Free MPC
Ruochen Hou, Shiqi Wang, Beom Jun Kim +3
Humanoid navigation in dynamic environments requires long-horizon planning while respecting short-horizon dynamic and safety constraints. Classical visibility-graph planners combin…
MIDAS Hand: Modular low-Impedance Direct-drive Anthropomorphic Sensing Hand
Alvin Zhu, Mingzhang Zhu, Beom Jun Kim +3
Dexterous manipulation is limited not only by algorithms but by a shortage of accessible hand hardware that combines human-scale morphology, ease of manufacturing or maintenance, t…
DexEXO: A Wearability-First Dexterous Exoskeleton for Operator-Agnostic Demonstration and Learning
Alvin Zhu, Mingzhang Zhu, Beom Jun Kim +10
Scaling dexterous robot learning is constrained by the difficulty of collecting high-quality demonstrations across diverse operators. Existing wearable interfaces often trade comfo…
WHED: A Wearable Hand Exoskeleton for Natural, High-Quality Demonstration Collection
Mingzhang Zhu, Alvin Zhu, Jose Victor S. H. Ramos +9
Scalable learning of dexterous manipulation remains bottlenecked by the difficulty of collecting natural, high-fidelity human demonstrations of multi-finger hands due to occlusion,…
MiNI-Q: A Miniature, Wire-Free Quadruped with Unbounded, Independently Actuated Leg Joints
Daniel Koh, Suraj Shah, Yufeng Wu +1
Physical joint limits are common in legged robots and can restrict workspace, constrain gait design, and increase the risk of hardware damage. This paper introduces MiNI-Q^2, a min…
Learning to Walk in Costume: Adversarial Motion Priors for Aesthetically Constrained Humanoids
Arturo Flores Alvarez, Fatemeh Zargarbashi, Havel Liu +7
We present a Reinforcement Learning (RL)-based locomotion system for Cosmo, a custom-built humanoid robot designed for entertainment applications. Unlike traditional humanoids, ent…
From Screen to Stage: Kid Cosmo, A Life-Like, Torque-Controlled Humanoid for Entertainment Robotics
Havel Liu, Mingzhang Zhu, Arturo Moises Flores Alvarez +8
Humanoid robots represent the cutting edge of robotics research, yet their potential in entertainment remains largely unexplored. Entertainment as a field prioritizes visuals and f…