5 papers
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…
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…
Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control
Alexander Schperberg, Yeping Wang, Stefano Di Cairano
Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm…
Hierarchically Accelerated Coverage Path Planning for Redundant Manipulators
Yeping Wang, Michael Gleicher
Many robotic applications, such as sanding, polishing, wiping and sensor scanning, require a manipulator to dexterously cover a surface using its end-effector. In this paper, we pr…
Anytime Planning for End-Effector Trajectory Tracking
Yeping Wang, Michael Gleicher
End-effector trajectory tracking algorithms find joint motions that drive robot manipulators to track reference trajectories. In practical scenarios, anytime algorithms are preferr…