3 papers
cs.RO2026
Learning Force-Regulated Manipulation with a Low-Cost Tactile-Force-Controlled Gripper
Xuhui Kang, Tongxuan Tian, Sung-Wook Lee +3
Successfully manipulating many everyday objects, such as potato chips, requires precise force regulation. Failure to modulate force can lead to task failure or irreversible damage…
cs.RO2025
CLASS: Contrastive Learning via Action Sequence Supervision for Robot Manipulation
Sung-Wook Lee, Xuhui Kang, Brandon Yang +1
Recent advances in Behavior Cloning (BC) have led to strong performance in robotic manipulation, driven by expressive models, sequence modeling of actions, and large-scale demonstr…
cs.RO2024
Diff-DAgger: Uncertainty Estimation with Diffusion Policy for Robotic Manipulation
Sung-Wook Lee, Xuhui Kang, Yen-Ling Kuo
Recently, diffusion policy has shown impressive results in handling multi-modal tasks in robotic manipulation. However, it has fundamental limitations in out-of-distribution failur…