5 papers
RoPT: Robust 6DoF Object Pose Tracking in Video
Yongqing Liang, Yuzhong Chen, Sihang Li +7
Accurate 6-DoF object pose tracking is essential for robotic interaction, yet conventional monocular pipelines frequently suffer from catastrophic divergence under rapid object mot…
Banana Kick: Response-Informed Skill Evolution for Humanoid Soccer
Hao E. Zhang, Ruize Geng, Raihan Haque +5
Humanoid kicking requires coordinated whole-body motion and precise contact, while a banana kick demands contact mechanics that generate ball spin and aerodynamic curvature. Motion…
Anticipatory Robot Goalkeeping via Monotone Optimal Stopping
Hao E. Zhang, Ruize Geng, Yisen Li +8
Robots engaged in fast physical interactions often need to act before the intent of another agent is fully known. Anticipatory goalkeeping illustrates this challenge. Waiting provi…
Vision-Force Admittance Learning for Peg Insertion into a Movable Hole
Yuzhong Chen, Yongqing Liang, Yunzhi Xu +6
Precise manipulation in dynamic environments, whether induced by a mobile robot base or a target with unknown motion, remains a major challenge in robotics. Manipulation in dynamic…
HiPi: Reproducible High-Fidelity Piezoresistive Sensors for Robotic Manipulation
Changyi Lin, Raihan Haque, Hui-Ping Wang +1
Piezoresistive tactile sensors are attractive for robotic manipulation because they are thin, lightweight, low-cost, and scalable to dense large-area sensing. However, existing sys…