2 papers
cs.RO2026
Stiffness Copilot: An Impedance Policy for Contact-Rich Teleoperation
Yeping Wang, Zhengtong Xu, Pornthep Preechayasomboon +4
In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff t…
cs.RO2026
Contact-Grounded Policy: Dexterous Visuotactile Policy with Generative Contact Grounding
Zhengtong Xu, Yeping Wang, Ben Abbatematteo +4
Contact-rich dexterous manipulation with multi-finger hands remains an open challenge in robotics because task success depends on multi-point contacts that continuously evolve and…