Related papers: Functional Force-Aware Retargeting from Virtual Hu…
We present a hierarchical policy-learning framework that enables a legged humanoid to cooperatively carry extended loads with a human partner using only haptic cues for intent inference. At the upper tier, a lightweight behavior-cloning…
Soft robots exhibit inherent compliance and safety, which makes them particularly suitable for applications requiring direct physical interaction with humans, such as surgical procedures. However, their nonlinear and hysteretic behavior,…
Task-oriented dexterous grasping holds broad application prospects in robotic manipulation and human-object interaction. However, most existing methods still struggle to generalize across diverse objects and task instructions, as they…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
Successfully manipulating many everyday objects, such as potato chips, requires precise force regulation. Failure to modulate force can lead to task failure or irreversible damage to the objects. Humans can precisely achieve this by…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative analysis on various approaches for sensing force, data…
Imitation learning requires high-quality demonstrations consisting of sequences of state-action pairs. For contact-rich dexterous manipulation tasks that require dexterity, the actions in these state-action pairs must produce the right…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Collaborative robots stand to have an immense impact on both human welfare in domestic service applications and industrial superiority in advanced manufacturing with dexterous assembly. The outstanding challenge is providing robotic…
This paper introduces a motion retargeting method that preserves self-contacts and prevents interpenetration. Self-contacts, such as when hands touch each other or the torso or the head, are important attributes of human body language and…
With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
Humanoid robots are expected to operate in human-centered environments where safe and natural physical interaction is essential. However, most recent reinforcement learning (RL) policies emphasize rigid tracking and suppress external…
We introduce PhysicalAgent, an agentic framework for robotic manipulation that integrates iterative reasoning, diffusion-based video generation, and closed-loop execution. Given a textual instruction, our method generates short video…
In contact-rich tasks, the hybrid, multi-modal nature of contact dynamics poses great challenges in model representation, planning, and control. Recent efforts have attempted to address these challenges via data-driven methods, learning…
Designing controllers that accomplish tasks while guaranteeing safety constraints remains a significant challenge. We often want an agent to perform well in a nominal task, such as environment exploration, while ensuring it can avoid unsafe…
In this paper, we introduce Haptic-Informed ACT, an advanced robotic system for pseudo oocyte manipulation, integrating multimodal information and Action Chunking with Transformers (ACT). Traditional automation methods for oocyte transfer…
Transferring human motion and appearance between videos of human actors remains one of the key challenges in Computer Vision. Despite the advances from recent image-to-image translation approaches, there are several transferring contexts…
A new fluid-driven soft robot hand in this study uses the idea of the bionics and has the anthropomorphic form, which is oriented to the flexible grasp function. The soft robot hand is composed of a new kind of multi-freedom soft finger and…