47 citations · 142 across the 49 of their papers we have counts for
57 papers
Whole-Body Dexterity
Conor Mc Gartoll, An Dang, Pranay Thangeda +5
Current humanoid dexterous manipulation remains largely confined to end-effectors and simple grasps, falling short of humans' ability to engage the entire body by bracing and slidi…
Tactile-Guided Robot Learning: From Representation Learning to Foundation Models
Kiyanoush Nazari, Luchen Li, Haoshu Fang +4
Tactile sensing is becoming central to robust, adaptive, and dexterous robotic manipulation. Beyond its traditional role in contact detection and reactive control, touch is increas…
HULK: Learning Whole-Body Forceful Loco-Manipulation for Humanoids
An Dang, Arturo Flores Alvarez, Yu-Ming Chen +5
Humanoid loco-manipulation of large, heavy objects demands forceful interaction across the entire body. However, such payloads shift a humanoid's center of mass and impose sustaine…
ReDex: Repairing Sim-to-Real Dexterous Policies by Finger-Level Compliant Interaction
Jinzhou Li, Hadi Tabatabaee, Kelin Yu +6
Dexterous manipulation policies trained in simulation often fail to transfer to the real world because of errors in contact timing and force regulation. Yet these policies can reta…
ADEPT: Accelerating Dexterity via Pre-Training and Post-Training using Reinforcement Learning
Jayjun Lee, Jessica Yin, Asif Rana +8
We introduce Accelerating Dexterity via Pre-Training (ADEPT), a large-scale reinforcement learning (RL) framework for learning sim-to-real transferable dexterity across high degree…
Tactile Sim2Real without Tactile Simulation via Bottlenecked Latent Reconstruction
Fan Yang, Youngsun Wi, Jinhao Yu +2
Robot sensor designs, particularly tactile sensors, are highly diverse and evolve rapidly. Modeling each sensor in simulation demands substantial domain expertise and computational…
Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots
Wenzhe Tong, Jonathan Mi, Xili Yi +2
This paper presents a scalable, open-source visuotactile sensing system for tensegrity robots that enables six-axis wrench estimation and contact detection. The proposed endcap sen…
TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models
Mark Van der Merwe, Mohamad Louai Shehab, Jayjun Lee +4
Vision-Language-Action (VLA) models demonstrate impressive reasoning over visual, semantic, and spatial task variations by leveraging large-scale vision and language pre-training.…
RoboMME: Benchmarking and Understanding Memory for Robotic Generalist Policies
Yinpei Dai, Hongze Fu, Jayjun Lee +6
Memory is critical for long-horizon and history-dependent robotic manipulation. Such tasks often involve counting repeated actions or manipulating objects that become temporarily o…
HydroShear: Hydroelastic Shear Simulation for Tactile Sim-to-Real Reinforcement Learning
An Dang, Jayjun Lee, Mustafa Mukadam +4
In this paper, we address the problem of tactile sim-to-real policy transfer for contact-rich tasks. Existing methods primarily focus on vision-based sensors and emphasize image re…
Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations
Xili Yi, Ying Xing, Zachary Manchester +1
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage…
TactAlign: Human-to-Robot Policy Transfer via Tactile Alignment
Youngsun Wi, Jessica Yin, Elvis Xiang +5
Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedba…
Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing
Mark Van der Merwe, Kei Ota, Dmitry Berenson +2
Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during in…
GrOMP: Grasped Object Manifold Projection for Multimodal Imitation Learning of Manipulation
William van den Bogert, Gregory Linkowski, Nima Fazeli
Imitation Learning (IL) holds great potential for learning repetitive manipulation tasks, such as those in industrial assembly. However, its effectiveness is often limited by insuf…
Learning Diffusion Policies for Robotic Manipulation of Timber Joinery under Fabrication Uncertainty
Salma Mozaffari, Daniel Ruan, William van den Bogert +3
Fabrication uncertainty arising from tolerance accumulation, material imperfection, and positioning errors remains a critical barrier to automated robotic assembly in construction,…
Using Temperature Sampling to Effectively Train Robot Learning Policies on Imbalanced Datasets
Basavasagar Patil, Sydney Belt, Jayjun Lee +2
Increasingly large datasets of robot actions and sensory observations are being collected to train ever-larger neural networks. These datasets are collected based on tasks and whil…
Cross-Sensor Touch Generation
Samanta Rodriguez, Yiming Dou, Miquel Oller +2
Today's visuo-tactile sensors come in many shapes and sizes, making it challenging to develop general-purpose tactile representations. This is because most models are tied to a spe…
Hydrosoft: Non-Holonomic Hydroelastic Models for Compliant Tactile Manipulation
Miquel Oller, An Dang, Nima Fazeli
Tactile sensors have long been valued for their perceptual capabilities, offering rich insights into the otherwise hidden interface between the robot and grasped objects. Yet their…
AimBot: A Simple Auxiliary Visual Cue to Enhance Spatial Awareness of Visuomotor Policies
Yinpei Dai, Jayjun Lee, Yichi Zhang +6
In this paper, we propose AimBot, a lightweight visual augmentation technique that provides explicit spatial cues to improve visuomotor policy learning in robotic manipulation. Aim…
ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation
Jayjun Lee, Nima Fazeli
Mastering dexterous, contact-rich object manipulation demands precise estimation of both in-hand object poses and external contact locations$\unicode{x2013}$tasks particularly chal…
Vib2Move: In-Hand Object Reconfiguration via Fingertip Micro-Vibrations
Xili Yi, Nima Fazeli
We introduce Vib2Move, a novel approach for in-hand object reconfiguration that uses fingertip micro-vibrations and gravity to precisely reposition planar objects. Our framework co…
Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization
Mark Van der Merwe, Miquel Oller, Dmitry Berenson +1
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasin…
ViSA-Flow: Accelerating Robot Skill Learning via Large-Scale Video Semantic Action Flow
Changhe Chen, Quantao Yang, Xiaohao Xu +2
One of the central challenges preventing robots from acquiring complex manipulation skills is the prohibitive cost of collecting large-scale robot demonstrations. In contrast, huma…
Neural Inverse Source Problems
Youngsun Wi, Jayjun Lee, Miquel Oller +1
Reconstructing unknown external source functions is an important perception capability for a large range of robotics domains including manipulation, aerial, and underwater robotics…