相关论文: DULA: A Differentiable Ergonomics Model for Postur…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
Vision-language-action (VLA) models demonstrate strong generalization in robotic manipulation but face challenges in complex, real-world tasks. While supervised fine-tuning with demonstrations is constrained by data quality, reinforcement…
Direct alignment algorithms (DAAs), such as direct preference optimization (DPO), have become popular alternatives for Reinforcement Learning from Human Feedback (RLHF) due to their simplicity, efficiency, and stability. However, the…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
Design of active orthosis is a challenging problem from both the dynamic simulation and control points of view. The redundancy problem of the simultaneous human-orthosis actuation is an interesting exercise to solve concerning the…
With the rapid advancement of large language models (LLMs), their deployment in real-world applications has become increasingly widespread. LLMs are expected to deliver robust performance across diverse tasks, user preferences, and…
Simulating deformable objects under rich interactions remains a fundamental challenge for real-to-sim robot manipulation, with dynamics jointly driven by environmental effects and robot actions. Existing simulators rely on predefined…
Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-predictive control, as well as data generation for imitation,…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Vision-Language-Action (VLA) models have advanced in robotic manipulation, yet practical deployment remains hindered by two key limitations: 1) perceptual redundancy, where irrelevant visual inputs are processed inefficiently, and 2)…
Euler's elastica is a classical model of flexible slender structures, relevant in many industrial applications. Static equilibrium equations can be derived via a variational principle. The accurate approximation of solutions of this problem…
The increasing demand for versatile robotic systems to operate in diverse and dynamic environments has emphasized the importance of a generalist policy, which leverages a large cross-embodiment data corpus to facilitate broad adaptability…
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…
We introduce ROLL, an efficient, scalable, and user-friendly library designed for Reinforcement Learning Optimization for Large-scale Learning. ROLL caters to three primary user groups: tech pioneers aiming for cost-effective,…
Musculoskeletal robots provide superior advantages in flexibility and dexterity, positioning them as a promising frontier towards embodied intelligence. However, current research is largely confined to relative simple tasks, restricting the…
Robot-mediated human-human (dyadic) interactions enable therapists to provide physical therapy remotely, yet an accurate perception of patient stiffness remains challenging due to network-induced haptic delays. Conventional stiffness…
Personalized alignment is essential for enabling large language models (LLMs) to engage effectively in user-centric dialogue. While recent prompt-based and offline optimization methods offer preliminary solutions, they fall short in…
Real time model based control of high dimensional nonlinear systems presents severe computational challenges. Conventional reduced order model control relies heavily on expert tuning or parameter adaptation and seldom offers mechanisms for…