This paper presents a robot-agnostic compliant-control framework with standardized interfaces for ROS control ecosystem, enabling reusable infrastructure for various manipulators and diverse compliant…

This paper proposes coupled egocentric control, a body-following teleoperation approach for whole-body robot control, improving efficiency, reducing effort, and increasing ease of use.

This paper proposes a method for simultaneous power transmission and position estimation in sensorless water hydraulic robots using flexible tubes.

Development of a compliant full-body telepresence control stack for miniature humanoids, enabling tele-locomotion and manipulation.

The paper proposes a simulation-trained variable impedance control framework for wearable exoskeletons that safely and effectively augments human physical capabilities across multiple tasks.

This paper proposes a data-driven framework for contact force estimation in Deformable Tool Manipulation using a compact LSTM and few-shot adaptation strategy.

The paper introduces Center-of-Pressure (CoP), a physics-grounded tactile representation that enables robust zero-shot sim-to-real transfer for complex, contact-rich manipulation tasks.

This paper presents a data-driven method to estimate external joint torques without dedicated force sensors, enabling force-feedback teleoperation on low-cost arms.

The paper proposes CTRL-STEER, a closed-loop framework that adaptively adjusts intervention strength to stabilize concept regulation and improve task success in Vision-Language-Action models without r…

The paper presents ViTacWorld, a framework for scalable contact-rich robot manipulation using a visuo-tactile world model.

The paper proposes an iCEM+TL framework that combines the Sample-efficient Cross-Entropy Method with Transfer Learning and Reward Redesign to improve robotic motion planning for complex tasks like sta…

This paper investigates a novel vulnerability in tactile sensing by demonstrating that targeted Electromagnetic Interference (EMI) can induce strong, misleading 'phantom forces' in Hall-effect fingert…

This paper introduces Chronos, a physics-informed framework for non-Markovian long-horizon manipulation, which elevates observation history to the latent state of the policy dynamics and achieves high…

This paper presents Mana, a sim-to-real framework for dexterous articulated tool manipulation.

This paper investigates the feasibility of using 5G networks for teleoperated driving (ToD) and identifies the impact of bandwidth and TDD frame structure on ToD performance.