11 papers · 1 filter
GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly
Max Conway, William Xie, Allen Devaraj +14
Disassembling end-of-life electric vehicle (EV) battery packs is dull and dangerous work, performed almost entirely by humans. We present GOLEM (Generalized Open Library of Embodie…
Egocentric Tactile and Proximity Sensors as Observation Priors for Humanoid Collision Avoidance
Carson Kohlbrenner, Niraj Pudasaini, William Xie +3
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. Howe…
Cutting the Cord: System Architecture for Low-Cost, GPU-Accelerated Bimanual Mobile Manipulation
Artemis Shaw, Chen Liu, Justin Costa +5
We present a bimanual mobile manipulator built on the open-source XLeRobot with integrated onboard compute for less than $1300. Key contributions include: (1) optimized mechanical…
Robotic Agentic Platform for Intelligent Electric Vehicle Disassembly
Zachary Allen, Max Conway, Lyle Antieau +2
Electric vehicles (EV) create an urgent need for scalable battery recycling, yet disassembly of EV battery packs remains largely manual due to high design variability. We present o…
Characterization, Analytical Planning, and Hybrid Force Control for the Inspire RH56DFX Hand
Xuan Tan, William Xie, Nikolaus Correll
Commercially accessible dexterous robot hands are increasingly prevalent, but many remain difficult to use as scientific instruments. For example, the Inspire RH56DFX hand exposes…
FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid
Niraj Pudasaini, Yutong Zhang, Jensen Lavering +2
Maintaining balance under external hand forces is critical for humanoid bimanual manipulation, where interaction forces propagate through the kinematic chain and constrain the feas…