3 papers
cs.RO2026
asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics
Fang Wan, Guangyi Huang, Tianyu Wu +5
We introduce asRoBallet, to the best of our knowledge, the first end-to-end reinforcement learning (RL) locomotion policy deployed on a humanoid ballbot hardware platform. Historic…
cs.RO2025
MagiClaw: A Dual-Use, Vision-Based Soft Gripper for Bridging the Human Demonstration to Robotic Deployment Gap
Tianyu Wu, Xudong Han, Haoran Sun +4
The transfer of manipulation skills from human demonstration to robotic execution is often hindered by a "domain gap" in sensing and morphology. This paper introduces MagiClaw, a v…
cs.RO2024
Optimizing Robotic Manipulation with Decision-RWKV: A Recurrent Sequence Modeling Approach for Lifelong Learning
Yujian Dong, Tianyu Wu, Chaoyang Song
Models based on the Transformer architecture have seen widespread application across fields such as natural language processing, computer vision, and robotics, with large language…