Under reviewIEEE RA-L 2026
Beyond the End-Effector: Learning Whole-Body Representations for Collision-Aware Manipulation
An action-chunking transformer policy that adds pre-contact proximity sensing from the whole arm to vision and proprioception.
Publications
Machine learning for real sensor data.
Papers and manuscripts
In preparationRSS 2027
TouchIQ: Online Tactile Adaptation for Robotic Manipulation
Low-cost fingertip sensing that lets a robot hand adapt its grasp as it closes on an object.
Acknowledged contribution
AcknowledgedarXiv 2026
Cutting the Cord: System Architecture for Low-Cost, GPU-Accelerated Bimanual Mobile Manipulation
Credited for fixing joint-trajectory discontinuities in the XLeRobot-Pro's inverse-kinematics solver.