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14 storiesStable contact teaching: managing energy in bilateral control
Building on Prof. Jee-Hwan Ryu’s time-domain passivity research, we explore what keeps demonstrations stable through hard contact and communication delays.
- TDPA
- Stability
- Force feedback
Firm surfaces. Natural movement.
Virtual inertia and UVI research for high-stiffness rendering and transparency, and methods for evaluating realism.
- High-stiffness rendering
- Transparency
- UVI
Bimanual haptics that let human hands lead
Design criteria that bring together bimanual workspace, force capability, inertia, and friction.
- Bimanual display
- Friction compensation
- Hardware development
From force history to action: learning with haptic data
Research directions for policies that understand force and touch, and world models grounded in contact.
- FMT
- Physical representations
- World models
The judgment behind every touch.
To turn the skill on Korea’s factory floors into robot learning, we need to record the reasons behind the movement.
- Why Korea
- Human skill
- Contact data
Big datasets. How much contact?
Episode counts tell only part of the story. A closer look at open robot datasets through force, touch, and timing.
- Open data
- Data quality
- Multimodal
What if robot hands could feel?
Robot vision is advancing quickly. We ask what happens when robots can also feel contact directly, and use it to choose their next move.
- Contact intelligence
- VLA
- World models
ForceVLA: from sensing force to using it
What changes when force is fused into action generation, rather than simply added as another input?
- Kinesthetic
- ForceVLA
- VLA
Different signals. One decision.
How signals on different clocks become one contact-aware decision.
- Multimodal learning
- Temporal representation
- Contact models
DexForce: the intent behind a demonstrated path
When people teach by guiding a robot, what does position alone leave out?
- Kinesthetic
- DexForce
- Demonstration
Tactile-VLA: connecting object knowledge to touch
Between knowing what an object is and deciding how to hold it.
- Tactile
- Tactile-VLA
- Generalization
Reactive Diffusion Policy: plan ahead, respond now
What changes when planning a movement and responding to fingertip contact run at different speeds?
- Tactile
- RDP
- Contact response
3D-ViTac: placing touch in three-dimensional space
A spatial view of where contact happens, beyond adding a tactile image.
- Tactile
- 3D-ViTac
- Spatial representations
OSMO: a tactile glove for humans and robots
What open-source hardware makes possible, and the questions that remain about preserving human skill.
- OSMO
- Tactile glove
- Human-to-robot