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We tackle the challenges of synthesizing versatile, physically simulated human motions for full-body object manipulation. Unlike prior methods that are focused on detailed motion tracking, trajectory following, or teleoperation, our…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Dexterous manipulation remains one of the most challenging problems in robotics, requiring coherent control of high-DoF hands and arms under complex, contact-rich dynamics. A major barrier is embodiment variability: different dexterous…
Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challenge. We present a system that combines a modular…
Vision-based teleoperation offers the possibility to endow robots with human-level intelligence to physically interact with the environment, while only requiring low-cost camera sensors. However, current vision-based teleoperation systems…
The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…
Haptic guidance is a powerful technique to combine the strengths of humans and autonomous systems for teleoperation. The autonomous system can provide haptic cues to enable the operator to perform precise movements; the operator can…
While Vision-Language-Action (VLA) models have demonstrated promising generalization capabilities in robotic manipulation, deploying them on specific and complex downstream tasks still demands effective post-training. In parallel,…
Humans can teleoperate robots to accomplish complex manipulation tasks. Imitation learning has emerged as a powerful framework that leverages human teleoperated demonstrations to teach robots new skills. However, the performance of the…
Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited…
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…
We present a user-friendly interface to teleoperate a soft robot manipulator in a complex environment. Key components of the system include a manipulator with a grasping end-effector that grows via tip eversion, gesture-based control, and…
As aerial robots gain traction in industrial applications, there is growing interest in enhancing their physical interaction capabilities. Pushing tasks performed by aerial manipulators have been successfully demonstrated in contact-based…
Aerial robotic systems have raised emerging interests in recent years. In this article, we propose a novel aerial manipulator system that is significantly different from conventional aerial discrete manipulators: An Aerial Continuum…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
This work provides a framework for a workspace aware online grasp planner. This framework greatly improves the performance of standard online grasp planning algorithms by incorporating a notion of reachability into the online grasp planning…
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
Most current anthropomorphic robotic hands can realize part of the human hand functions, particularly for object grasping. However, due to the complexity of the human hand, few current designs target at daily object manipulations, even for…
Dexterous manipulation with contact-rich interactions is crucial for advanced robotics. While recent diffusion-based planning approaches show promise for simple manipulation tasks, they often produce unrealistic ghost states (e.g., the…