8 accepted papers
Healthcare robotics has been gaining traction as a key area of research focused on enhancing human wellness. This paper explores the use of intelligent robots in the beauty industry, specifically within the context of photorejuvenation-based cosmetic dermatology, aimed at improving facial skin aesth…
In this paper, we address the problem of manipulating multi-particle aggregates using a bimanual robotic system. Our approach enables the autonomous transport of dispersed particles through a series of shaping and pushing actions using robotically-controlled tools. Achieving this advanced manipulati…
Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language models (LLMs), there has been a notable increase in the developm…
In this paper, we address the problem of manipulating multi- particle aggregates using a bimanual robotic system. Our approach enables the autonomous transport of dispersed particles through a series of shaping and pushing actions using robotically controlled tools. Achieving this advanced manipulat
Deep generative models, particularly diffusion and flow matching models, have recently shown remarkable potential in learning complex policies through imitation learning. However, the safety of generated motions remains overlooked, particularly in complex environments with inherent obstacles. In thi
This letter addresses the problem of contact-based manipulation of deformable linear objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the burden of high-dimensional continuous state-action spaces, we model DLOs as kinematic multibody systems via our proposed keypoin
Assistive robots for healthcare have witnessed a growing demand over the past decades. In this letter, we investigate the development of an optimization-based control framework with variable impedance for an assistive robot to perform ultrasound-guided scoliosis assessment. The conventional procedur
Imitation learning offers a general framework where robots can efficiently acquire novel motor skills from demonstrations of a human teacher. While many promising achievements have been shown, the majority of them are only focused on single-stroke movements, without taking into account the problem o…