3 papers
cs.RO2026
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…
cs.RO2025
Unfettered Forceful Skill Acquisition with Physical Reasoning and Coordinate Frame Labeling
William Xie, Max Conway, Yutong Zhang +1
Vision language models (VLMs) exhibit vast knowledge of the physical world, including intuition of physical and spatial properties, affordances, and motion. With fine-tuning, VLMs…
cs.RO2024
A Machine Learning Approach to Contact Localization in Variable Density Three-Dimensional Tactile Artificial Skin
Carson Kohlbrenner, Mitchell Murray, Yutong Zhang +5
Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization method…