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Mark Cutkosky

12 accepted papers

2026

Fourigami: A 4-Degree-Of-Freedom, Force-Controlled, Origami, Finger Pad Haptic Device

Crystal Winston, Hojung Choi, Rianna Jitosho, Zhenishbek Zhakypov, Jasmin Elena Palmer, Mark Cutkosky +1
ICRA 2026poster

Skin deformation haptic devices worn on the finger pad provide realistic touch feedback during interactions with virtual objects. Two primary challenges in creating such devices are: (1) making a multi-degree-of-freedom device that is small and lightweight so it does not encumber the wearer and (2) …

Cited by 0Source ↗Scholar ↗
2026

In-The-Wild Compliant Manipulation with UMI-FT

Hojung Choi, Yifan Hou, Chuer Pan, Seongheon Hong, Austin Patel, Xiaomeng Xu +2
ICRA 2026poster

Many manipulation tasks require careful force modulation. With insufficient force the task may fail, while excessive force could cause damage. The high cost, bulky size and fragility of commercial force/torque (F/T) sensors have limited large-scale, force-aware policy learning. We introduce UMI-FT, …

Cited by 0Source ↗PDF ↗code ↗Scholar ↗
2026

UMI-Underwater: Learning Underwater Manipulation without Underwater Teleoperation

Hao Li, Long Yin Chung, Jack Goler, Ryan Zhang, Xiaochi Xie, Huy Ha +2
RSS 2026poster

Underwater robotic grasping is difficult due to degraded, highly variable imagery and the expense of collecting diverse underwater demonstrations. We introduce a system that (i) autonomously collects successful underwater grasp demonstrations via a self-supervised data collection pipeline and (ii) t…

Cited by 0Source ↗Scholar ↗
2025

TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types

Yuhao Lin, Yi-Lin Wei, Haoran Liao, Mu Lin, Chengyi Xing, Hao Li +3
CoRL 2025poster

Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand retargeting to closely mimic human hand postures. However, these approaches may fail to fully leverage the inherent dex…

Cited by 0Source ↗Scholar ↗
2024

Grasp as You Say: Language-guided Dexterous Grasp Generation

Yi-Lin Wei, Jian-Jian Jiang, Chengyi Xing, Xiantuo Tan, Xiao-Ming Wu, Hao Li +2
NeurIPS 2024poster

This paper explores a novel task "Dexterous Grasp as You Say'' (DexGYS), enabling robots to perform dexterous grasping based on human commands expressed in natural language. However, the development of this field is hindered by the lack of datasets with natural human guidance; thus, we propose a lan…

Cited by 14Source ↗PDF ↗code ↗Scholar ↗
2024

Tactile-Informed Action Primitives Mitigate Jamming in Dense Clutter

Dane Brouwer, Joshua Citron, Hojung Choi, Marion Lepert, Michael Lin, Jeannette Bohg +1
ICRA 2024poster

It is difficult for robots to retrieve objects in densely cluttered lateral access scenes with movable objects as jamming against adjacent objects and walls can inhibit progress. We propose the use of two action primitives— burrowing and excavating—that can fluidize the scene to unjam obstacles and…

Cited by 2Source ↗code ↗Scholar ↗
2017

A rolling-diaphragm hydrostatic transmission for remote MR-guided needle insertion

Natalie Burkhard, Samuel Frishman, Alexander Gruebele, J. Peter Whitney, Roger Goldman, Bruce Daniel +1
ICRA 2017poster

Magnetic resonance imaging (MRI) offers many benefits, including unsurpassed soft-tissue characterization and the ability to combine detection and biopsy into a single procedure. However, limited patient access in the narrow scanner bore requires tedious iterative positioning or use of robotic assis…

Cited by 40Source ↗Scholar ↗
2017

Efficient Equilibrium Testing under Adhesion and Anisotropy using Empirical Contact Force Models

Kris Hauser, Shiquan Wang, Mark Cutkosky
RSS 2017poster

A novel method is presented for efficiently testing the stability of an object under gravity and contact forces, that accommodates empirical determination of the set of admissible forces exerted at contacting pairs of surfaces. These admissible force volumes may exhibit a wide variety of geometries…

Cited by 20Source ↗PDF ↗Scholar ↗
2016

Haptic skin stretch on a steering wheel for displaying preview information in autonomous cars

Christopher J. Ploch, Jung Hwa Bae, Wendy Ju, Mark Cutkosky
IROS 2016poster

Lateral skin stretch is a promising technology for haptic display of information between an autonomous or semi-autonomous car and a driver. We present the design of a steering wheel with an embedded lateral skin stretch display and report on the results of tests (N=10) conducted in a driving vehicle…

Cited by 31Source ↗Scholar ↗