13 citations · 19 across the 6 of their papers we have counts for
7 papers
Factorized Tactile Representation and Control for Sim-to-Real Manipulation
Siqi Shang, Bianca Aumann, Tye Brady +2
Tactile sim-to-real learning must bridge simulated contact and device-specific sensor responses while preserving information needed for control. We propose a factorized tactile rep…
Tri-Space Operational Control of Redundant Multilink and Hybrid Cable-Driven Parallel Robots Using an Iterative-Learning based Reactive Approach
Dipankar Bhattacharya, Yin Pok Chan, Siqi Shang +3
Cable-Driven Parallel Robots (CDPRs) are a type of parallel mechanism in which cables are used as actuators. Due to the two levels of redundancy and numerous constraints within the…
Exp-Force: Experience-Conditioned Pre-Grasp Force Selection with Vision-Language Models
Siqi Shang, Minchao Huang, Bill Fan +1
Accurate pre-contact grasp force selection is critical for safe and reliable robotic manipulation. Adaptive controllers regulate force after contact but still require a reasonable…
FORTE: Tactile Force and Slip Sensing on Compliant Fingers for Delicate Manipulation
Siqi Shang, Mingyo Seo, Yuke Zhu +1
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high inte…
ChatEMG: Synthetic Data Generation to Control a Robotic Hand Orthosis for Stroke
Jingxi Xu, Runsheng Wang, Siqi Shang +10
Intent inferral on a hand orthosis for stroke patients is challenging due to the difficulty of data collection. Additionally, EMG signals exhibit significant variations across diff…
RR: Rapid eXploration for Reinforcement Learning via Sampling-based Reset Distributions and Imitation Pre-training
Gagan Khandate, Tristan L. Saidi, Siqi Shang +5
We present a method for enabling Reinforcement Learning of motor control policies for complex skills such as dexterous manipulation. We posit that a key difficulty for training suc…
Sampling-based Exploration for Reinforcement Learning of Dexterous Manipulation
Gagan Khandate, Siqi Shang, Eric T. Chang +5
In this paper, we present a novel method for achieving dexterous manipulation of complex objects, while simultaneously securing the object without the use of passive support surfac…