4 papers · 1 filter
Move, don't think: sample-efficient collision avoidance with lossy proximity sensors
Carson Kohlbrenner, Niraj Pudasaini, William Xie +3
Data-driven robots must learn to avoid collisions with as few demonstrations as possible to avoid collecting large datasets of destructive collision examples. We explore whole-body…
GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly
Max Conway, William Xie, Allen Devaraj +14
Disassembling end-of-life electric vehicle (EV) battery packs is dull and dangerous work, performed almost entirely by humans. We present GOLEM (Generalized Open Library of Embodie…
Egocentric Tactile and Proximity Sensors as Observation Priors for Humanoid Collision Avoidance
Carson Kohlbrenner, Niraj Pudasaini, William Xie +3
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. Howe…
Characterization, Analytical Planning, and Hybrid Force Control for the Inspire RH56DFX Hand
Xuan Tan, William Xie, Nikolaus Correll
Commercially accessible dexterous robot hands are increasingly prevalent, but many remain difficult to use as scientific instruments. For example, the Inspire RH56DFX hand exposes…