7 papers · 1 filter
RoboSimStudio: An Interactive Toolkit for Human and Agent Rapid Real2Sim of Robot Manipulation Tasks
Kaiyuan Chen, Shuangyu Xie, Uksang Yoo +9
It has been difficult to accurately model the physics of the interaction between a robot and the objects it manipulates, including contact mechanics, coupled contact dynamics, defo…
SemAnCorr: Semantic Anchored Correspondence for Zero-Shot Manipulation Skill Transfer
Xiaoxiang Dong, William Baron, Hongyi Chen +3
Transferring manipulation skills across object instances that share functionality but differ in geometry remains a fundamental challenge in robot learning. While recent corresponde…
GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks
Kaiyuan Chen, Shuangyu Xie, Letian Fu +21
For robots to work reliably in commercial and industrial applications, recent advances in agentic coding systems have potential to combine interpretable robot programming with the…
VibeAct: Vibration to Actions for Contact-Rich Reactive Robot Dexterity
Yuemin Mao, Uksang Yoo, Jean Oh +2
Dexterous manipulation depends on contact events that are fast, local, and often visually occluded. Piezoelectric microphones provide compact, high-bandwidth sensing of these inter…
A-SLIP: Acoustic Sensing for Continuous In-hand Slip Estimation
Uksang Yoo, Yuemin Mao, Jean Oh +1
Reliable in-hand manipulation requires accurate real-time estimation of slip between a gripper and a grasped object. Existing tactile sensing approaches based on vision, capacitanc…
Functional Force-Aware Retargeting from Virtual Human Demos to Soft Robot Policies
Uksang Yoo, Mengjia Zhu, Evan Pezent +8
We introduce SoftAct, a framework for teaching soft robot hands to perform human-like manipulation skills by explicitly reasoning about contact forces. Leveraging immersive virtual…
SOFTMAP: Sim2Real Soft Robot Forward Modeling via Topological Mesh Alignment and Physics Prior
Ziyong Ma, Uksang Yoo, Jonathan Francis +3
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to comple…