4 papers · 1 filter
SANTS: A State-Adaptive Scheduler for World Action Models
Yirui Sun, Guangyu Zhuge, Keliang Liu +5
World Action Models (WAMs) improve robot manipulation by using video-based future representations to condition action generation. In pixel-space WAMs, however, the best action cond…
A Novel Reconfigurable Dexterous Hand Based on Triple-Symmetric Bricard Parallel Mechanism
Chunxu Tian, Zhichao Huang, Hongzeng Li +4
This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancin…
Towards Dexterous Embodied Manipulation via Deep Multi-Sensory Fusion and Sparse Expert Scaling
Yirui Sun, Guangyu Zhuge, Keliang Liu +5
Realizing dexterous embodied manipulation necessitates the deep integration of heterogeneous multimodal sensory inputs. However, current vision-centric paradigms often overlook the…
RhoMorph: Rhombus-shaped Deformable Modular Robots for Stable, Medium-Independent Reconfiguration Motion
Jie Gu, Yirui Sun, Zhihao Xia +3
In this paper, we present RhoMorph, a novel deformable planar lattice modular self-reconfigurable robot (MSRR) with a rhombus shaped module. Each module consists of a parallelogram…