6 papers
Construction of log Calabi--Yau boundaries from int-amplified endomorphisms
Shou Yoshikawa
In this paper, we prove that -Gorenstein projective complex varieties admitting int-amplified endomorphisms are of Calabi--Yau type.
Extreme Length Generalization in a Compact Recurrent Architecture for One-Shot Exploration
Izen Thornton, Aaron Shey, William Su
Autonomous robots on one-shot missions run over horizons far longer than the trajectories seen during training, under a fixed onboard compute budget. We present FRANK, a 507K-param…
A Deployable Four-Finger Payload for Teleoperated Free-Flying Manipulation with Astrobee
William Su, Jordan Kam, Yunosuke Nakamura +3
This article presents a bimanual teleoperation pipeline and conceptual design of a deployable four-finger payload for intra-vehicular free-flyers. Future habitats in low-Earth orbi…
A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation
William Su, Yunosuke Nakamura, Yixiao Wang +6
In-hand assembly is constrained by the need to maintain grasps on two separate parts while controlling their relative motion within a single hand. To enable both in-hand assembly a…
Hamilton--Jacobi Reachability for Spacecraft Collision Avoidance
Larry Hui, Jordan Kam, William Su +1
This article presents a Hamilton--Jacobi (HJ) reachability framework for a two--satellite collision avoidance problem operating in the same circular orbit, where relative motion is…
A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation
William Su, Jordan Kam, Yixiao Wang +1
Astrobee's existing one-degree-of-freedom (DOF) underactuated compliant claw gripper enables perching on the International Space Station (ISS), but provides limited capability for…