3 papers
cs.RO2026
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…
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.RO2024
DeliGrasp: Inferring Object Properties with LLMs for Adaptive Grasp Policies
William Xie, Maria Valentini, Jensen Lavering +1
Large language models (LLMs) can provide rich physical descriptions of most worldly objects, allowing robots to achieve more informed and capable grasping. We leverage LLMs' common…