6 papers
From Wearable Interfaces to Dexterous Policies: Contact Shifts and Tactile Representations
Ruitong Tian, Fang Xu, Noah B. Wilson +2
Unlike conventional teleoperation, wearable interfaces allow operators to collect dexterous demonstrations through their own hand motions while directly interacting with task objec…
ExoBridge: Learning a Bare Hand to Hand-Worn Exoskeleton Mapping through Human Limb Coupling
Ruitong Tian, Xianyao Li, Noah B. Wilson +2
Human video offers a scalable source of experience for dexterous robot learning, but obtaining motion and tactile supervision while preserving bare hand interaction remains challen…
Nudge Before You Push: Physics-Aware Navigation via Tactile Probing
Xianyao Li, Fang Xu, Ruitong Tian +4
Visually identical containers can conceal loads that require different handling decisions. We present TANav, which uses a brief nudge to measure push resistance for navigation unde…
Minimal Recurrent Behavioral Memory for Imitation under Partial Observability
Xianyao Li, Fang Xu, Rui Min +2
What is the least recurrent memory needed to reproduce a specified expert under partial observability? The instantaneous requirement is the conditional entropy of the expert's beha…
DreamLedger: Where to Refuse World-Model Imagination Using Execution-Settled Credit
Xianyao Li, Ruitong Tian, Rui Min +2
World-model predictions inform robot actions, yet instantaneous reliability signals do not retain the outcomes of comparable past predictions. DreamLedger registers consumed predic…
A 3DGS-Driven Dynamic Viewpoint and Vibrotactile Framework for Subsea Teleoperation Validated via fNIRS
Fang Xu, Tianyu Zhou, Ruitong Tian +2
Teleoperating remotely operated vehicles (ROVs) in flooded, cluttered infrastructure is fundamentally limited by narrow 2D egocentric views and subsea communication latency. We pre…