ReBRAC-v2: The Return of the King
Preprint (arXiv), 2026
A systematically modernized offline reinforcement learning actor-critic with an exact-likelihood flow policy, categorical residual critics, staged training, and test-time action improvement.
Our Projects with Websites
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EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
Preprint (arXiv), 2026
EgoVerse is a living, consortium-scale egocentric dataset capturing diverse human demonstrations across tasks, scenes, and operators worldwide, purpose-built for human-to-robot transfer across embodiments.
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A Benchmark of Dexterity for Anthropomorphic Robotic Hands
Preprint (arXiv), 2026
POMDAR is a taxonomy-grounded dexterity benchmark for anthropomorphic hands, measuring task throughput across grasping and manipulation configurations in real and simulated settings.
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A Unified Low-Dimensional Design Embedding for Joint Optimization of Shape, Material, and Actuation in Soft Robots
IEEE/RSJ IROS, 2026
A smooth, low-dimensional basis-function embedding for jointly optimizing soft robot shape, material distribution, and actuation through black-box simulation.
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Simple Models, Real Swimming: Digital Twins for Tendon-Driven Underwater Robots
Preprint (arXiv), 2026
Digital twins for tendon-driven underwater robots, validating simple models with real-world swimming behavior.
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SERNF: Sample-Efficient Real-World Dexterous Policy Fine-Tuning via Action-Chunked Critics and Normalizing Flows
Preprint (arXiv), 2026
Sample-efficient real-world dexterous policy fine-tuning with action-chunked critics and normalizing flows.
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SORS: A Modular, High-Fidelity Simulator for Soft Robots
IEEE RoboSoft, 2026
A modular, high-fidelity simulation framework for soft robots focused on contact-rich manipulation and sim-to-real transfer.
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Latent Action Diffusion for Cross-Embodiment Manipulation
IEEE ICRA, 2026
Latent action diffusion for cross-embodiment skill transfer and single-policy multi-robot manipulation control.
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Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges in Musculoskeletal Antagonistic Joints
IEEE ICRA, 2025
A HASEL-clutch artificial muscle system that lets non-stretchable electrohydraulic actuators work in antagonistic joints without sacrificing motion range to tendon slack.
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mimic-one: a Scalable Model Recipe for General Purpose Robot Dexterity
Preprint (arXiv), 2025
A diffusion-based model recipe and data collection protocol for a 16-DoF tendon-driven dexterous hand, achieving up to 93.3% out-of-distribution success rates with emergent self-correcting behaviors.
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MAPLE: Encoding Dexterous Robotic Manipulation Priors Learned From Egocentric Videos
Preprint (arXiv), 2025
MAPLE learns dexterous manipulation priors from large-scale egocentric videos, producing vision features that enable efficient policy learning and strong zero-shot generalization for dexterous robotic manipulation.
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Low-voltage Electrohydraulic Actuators for Untethered Robotics
Science Advances, 2024
HALVE actuators lower electrohydraulic artificial-muscle operation to around 1100 V while remaining safe to touch, waterproof, and self-clearing, enabling untethered gripper and soft robotic fish demonstrations.
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Replicating Human Anatomy with Vision Controlled Jetting – A Pneumatic Musculoskeletal Hand and Forearm
IEEE RoboSoft, 2024
A biomimetic hand and forearm 3D-printed in a single process—rigid skeleton, soft joint capsules, tendons, and touch sensors—actuated by 22 independently controlled pneumatic artificial muscles with human-like dexterity.
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Electrohydraulic Musculoskeletal Robotic Leg for Agile, Adaptive, yet Energy-Efficient Locomotion
Nature Communications, 2024
A bio-inspired robotic leg driven by pairs of antagonistic electrohydraulic (HASEL) artificial muscles, capable of jumping, fast movement, and automatic terrain adaptation while consuming only 1.2% of the energy of a conventional motor-driven leg.
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PokeFlex: A Real-World Dataset of Deformable Objects for Robotics
Preprint (arXiv), 2024
PokeFlex is a real-world multimodal dataset of 18 deformable objects—including 3D textured meshes, point clouds, RGB images, and depth maps—enabling online mesh reconstruction and sim-to-real transfer for deformable object manipulation.
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VQ-ACE: Efficient Policy Search for Dexterous Robotic Manipulation via Action Chunking Embedding
Preprint (arXiv), 2024
Vector-quantized action chunk embeddings for efficient policy search in dexterous manipulation with MPC and reinforcement learning.
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Sensorized Soft Skin for Dexterous Robotic Hands
IEEE ICRA, 2024
Sensorized soft skin for high-resolution tactile perception in soft robotics.
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Sim-to-Real of Soft Robots with Learned Residual Physics
IEEE RA-L, 2024
Hybrid sim-to-real modeling for soft robots that augments analytical simulation with learned residual physics.
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ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning
IEEE IROS, 2024
Open source Robotic Hand.
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An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild
CoRL, 2024
An open-source platform for autonomous aerial manipulation using only onboard perception, enabling independent grasping in diverse indoor and outdoor settings with a released ROS 2 software stack and custom hardware designs.
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Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications
IEEE ICRA, 2023
Aquarium is a fully differentiable 2D FSI solver using implicit Navier-Stokes integration and immersed-boundary coupling, providing analytical gradients for gradient-based gait and shape co-optimization of underwater robots.
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Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints
IEEE-RAS Humanoids, 2023
Adaptive dexterous manipulation for ball rolling tasks with soft robotic systems.
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Vision-controlled jetting for composite systems and robots
Nature, 2023
Vision-driven control and optimization for ink-jet based manufacturing.
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RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots
IEEE/RSJ IROS, 2022
A quadcopter with a soft Fin Ray gripper for fast, robust aerial grasping, achieving 83% efficacy across four object geometries at ~1 m/s while supporting up to 4× the payload of prior works.