9 papers
Diagnosing Compositional Generalization in Sequential Robot Tasks
Yixiao Wang, Cheng-En Wu, Lingfeng Sun +5
Sequential robot manipulation requires policies to execute novel combinations of familiar instruction components. However, collecting demonstrations for all possible instruction tu…
Global-Local Interface for On-Demand Teleoperation
Jianshu Zhou, Boyuan Liang, Junda Huang +2
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing te…
Programmable Locking Cells (PLC) for Modular Robots with High Stiffness Tunability and Morphological Adaptability
Jianshu Zhou, Wei Chen, Junda Huang +3
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-for…
Unified Manipulability and Compliance Analysis of Modular Soft-Rigid Hybrid Fingers
Jianshu Zhou, Boyuan Liang, Junda Huang +1
This paper presents a unified framework to analyze the manipulability and compliance of modular soft-rigid hybrid robotic fingers. The approach applies to both hydraulic and pneuma…
Prismatic-Bending Transformable (PBT) Joint for a Modular, Foldable Manipulator with Enhanced Reachability and Dexterity
Jianshu Zhou, Junda Huang, Boyuan Liang +3
Robotic manipulators, traditionally designed with classical joint-link articulated structures, excel in industrial applications but face challenges in human-centered and general-pu…
Few-shot Sim2Real Based on High Fidelity Rendering with Force Feedback Teleoperation
Yanwen Zou, Junda Huang, Boyuan Liang +5
Teleoperation offers a promising approach to robotic data collection and human-robot interaction. However, existing teleoperation methods for data collection are still limited by e…