7 papers indexed
Joshua Citron, Renee Zbizika, Zeyi Liu, Shuran Song
Existing teleoperation systems are often tailored to specific robot hardware and task domains, limiting their scalability and adaptability. We present ModPack, a modular and extensible teleoperation system designed to support diverse robot embodiments and task requirements within…
Ruogu Li, Chenyang Ma, Sikai Li, Zhenyu Wei, Yunchao Yao, Haochen Shi, et al.
Dexterous hands and humanoid robots are typically developed as distinct embodiments: the former enable contact-rich manipulation at the object scale, whereas the latter provide mobility and whole-body interaction in human-centered environments. We introduce \textbf{Handroid}, a d…
Dian Wang, Jisang Park, Xiaomeng Xu, Han Zhang, Shuran Song, Jeannette Bohg
Robotic manipulation is inherently multi-frame: local actions may be simple in an end-effector frame, while transport, upright-object handling, and whole-body coordination are better represented in a base-aligned frame. However, modern diffusion-based visuomotor policies typicall…
Wenqi Jiang, Jason Clemons, Rowland O'Flaherty, Hugo Hadfield, Alperen Degirmenci, Shuran Song, et al.
Robotics foundation models (RFMs) are making general-purpose robots increasingly practical for factory deployments. While RFM serving systems are central to this vision, existing systems are largely shaped by a single-robot, single-model assumption: inference is treated as an edg…
Yifei Dong, Zhanyi Sun, Lujie Yang, Manuel Baum, Kei Ikemura, Shuran Song, et al.
Humans and animals exhibit remarkable robustness in physical manipulation, yet robots remain far behind. Progress toward human-level manipulation robustness is hindered by the absence of a unified and systematic understanding: different subfields frame robustness in distinct ways…
Austin Patel, Ben Pekarek, Joel Enrique Castro Hernandez, Shuran Song
We study behavior prompting, a paradigm that enables robots to perform new tasks at inference time given a single human demonstration, which we call a behavior prompt. To enable this capability, we present contributions in algorithm, data, and evaluation. For algorithm, we introd…
Jaden Clark, Changhao Wang, Yihuai Gao, Seongheon Hong, Hojung Choi, Mark Cutkosky, et al.
Robot manipulation often relies on sensory feedback beyond vision, particularly in contact-rich settings where force, tactile, or audio signals reveal interaction states that are not directly observable from images. However, these modalities are often hardware- and task-specific,…