Bridging Semantics and Kinematics: A Modular Framework for Zero-Shot Robotic Manipulation - 2026-06-22 - Research Publication - This paper presents a modular training-free framework for zero-shot, language-guided robotic manipulation in semi-structured environments. The work is explicitly tied to Robotiq Hand-E Adaptive Gripper, making the product… - source: arxiv.org
Persona-Based Process Design for Assistive Human-Robot Workplaces for Persons with Disabilities - 2026-04-29 - Research Publication - The method abstracts common workplace impairments into seven personas and decomposes a collaborative process into sequential actions. Candidate strategies are ordered by required robot assistance and implemented in a… - source: arxiv.org
Robotic Paper Wrapping by Learning Force Control - 2025-03-19 - Research Publication - Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or… - source: arxiv.org
Sketch-to-Skill: Bootstrapping Robot Learning with Human Drawn Trajectory Sketches - 2025-03-14 - Research Publication - Training robotic manipulation policies traditionally requires numerous demonstrations and/or environmental rollouts. While recent Imitation Learning (IL) and Reinforcement Learning (RL) methods have reduced the number of… - source: arxiv.org
Robotic Object Insertion with a Soft Wrist through Sim-to-Real Privileged Training - 2024-08-30 - Research Publication - This study addresses contact-rich object insertion tasks under unstructured environments using a robot with a soft wrist, enabling safe contact interactions. The work is explicitly tied to Robotiq Hand-E Adaptive Gripper… - source: arxiv.org