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

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

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…

The paper presents AutoDex, a system that automatically collects real-world data for robust dexterous grasping, achieving a 4.8x throughput improvement over teleoperation and higher success rate than…

GSAM introduces a generalizable and safe robotic framework for articulated object manipulation, significantly improving success rates and reducing variability across diverse tasks by integrating commo…

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…

The paper presents BoxTwin, an interactive digital twin framework that learns the full dynamics of elastoplastic articulated objects from videos and accurately tracks joint trajectories and reproduces…

The paper introduces BayesContact, a framework for visuo-tactile pose estimation using simulation-based inference, improving pose observability and insertion success by 30%.

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

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…

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.

A two-layer framework using a large language model for force-conditioned reinforce learning with recovery maneuvers and force signatures.

The paper introduces DexVerse, a large-scale and modular benchmark for dexterous manipulation with 100 tasks, 3 robot arms, 6 hands, and configurable visual variations.

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…

The paper presents CONTACTMIMIC, a learning framework that tracks explicit part-level binary contact commands alongside keypoint trajectories for object interaction tasks.

This paper introduces Spatially Conditioned Diffusion Policy (SCDP), a single-camera manipulation system that uses end-effector trajectories as visual attention anchors.