12 papers
SemAnCorr: Semantic Anchored Correspondence for Zero-Shot Manipulation Skill Transfer
Xiaoxiang Dong, William Baron, Hongyi Chen +3
The paper presents SemAnCorr, a training‑free method that uses semantically consistent anchor regions and functional maps to create dense, geometrically coherent correspondences be…
GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks
Kaiyuan Chen, Shuangyu Xie, Letian Fu +21
For robots to work reliably in commercial and industrial applications, can recent advances in agentic coding systems combine interpretable robot programming with the open-world ada…
VibeAct: Vibration to Actions for Contact-Rich Reactive Robot Dexterity
Yuemin Mao, Uksang Yoo, Jean Oh +2
Dexterous manipulation depends on contact events that are fast, local, and often visually occluded. Piezoelectric microphones offer a compact and high-bandwidth way to sense these…
A-SLIP: Acoustic Sensing for Continuous In-hand Slip Estimation
Uksang Yoo, Yuemin Mao, Jean Oh +1
Reliable in-hand manipulation requires accurate real-time estimation of slip between a gripper and a grasped object. Existing tactile sensing approaches based on vision, capacitanc…
Functional Force-Aware Retargeting from Virtual Human Demos to Soft Robot Policies
Uksang Yoo, Mengjia Zhu, Evan Pezent +8
We introduce SoftAct, a framework for teaching soft robot hands to perform human-like manipulation skills by explicitly reasoning about contact forces. Leveraging immersive virtual…
DYMO-Hair: Generalizable Volumetric Dynamics Modeling for Robot Hair Manipulation
Chengyang Zhao, Uksang Yoo, Arkadeep Narayan Chaudhury +4
Hair care is an essential daily activity, yet it remains inaccessible to individuals with limited mobility and challenging for autonomous robot systems due to the fine-grained phys…