4 papers
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…