Publications
Robotics and AI
2026
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GelSlim 5.0: Unifying Vision and Touch with a Single Fingertip Camera
arXiv preprint arXiv:2610.31334, 2026
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PhysiCalWorld: In-Context Physics Calibration for World Models
arXiv preprint arXiv:2610.30125, 2026
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Whole-Body Dexterity
arXiv preprint arXiv:2610.22184, 2026
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Tactile-Guided Robot Learning: From Representation Learning to Foundation Models
arXiv preprint arXiv:2610.20134, 2026
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HULK: Learning Whole-Body Forceful Loco-Manipulation for Humanoids
arXiv preprint arXiv:2610.08970, 2026
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ReDex: Repairing Sim-to-Real Dexterous Policies by Finger-Level Compliant Interaction
arXiv preprint arXiv:2610.07525, 2026
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ADEPT: Accelerating Dexterity via Pre-Training and Post-Training using Reinforcement Learning
Conference on Robot Learning (CoRL), 2026
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Tactile Sim2Real without Tactile Simulation via Bottlenecked Latent Reconstruction
arXiv preprint arXiv:2608.15897, 2026
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Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026
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TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models
arXiv preprint arXiv:2606.29089, 2026
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PhyGS: Physically-Grounded Controllable Scene Generation
CVPR Workshop on Multi-Agent Embodied Intelligent Systems, 2026
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RoboMME: Benchmarking and Understanding Memory for Robotic Generalist Policies
International Conference on Machine Learning (ICML), 2026
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TactAlign: Human-to-Robot Policy Transfer via Tactile Alignment
Robotics: Science and Systems (RSS), 2026
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HydroShear: Hydroelastic Shear Simulation for Tactile Sim-to-Real Reinforcement Learning
Robotics: Science and Systems (RSS), 2026
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Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations
arXiv preprint arXiv:2602.16846, 2026
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ViSA-Flow: Accelerating Robot Skill Learning via Large-Scale Video Semantic Action Flow
IEEE International Conference on Robotics and Automation (ICRA), 2026
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Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing
IEEE Robotics and Automation Letters (RA-L), 2026
2025
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GrOMP: Grasped Object Manifold Projection for Multimodal Imitation Learning of Manipulation
arXiv preprint arXiv:2512.03347, 2025
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Learning Diffusion Policies for Robotic Manipulation of Timber Joinery under Fabrication Uncertainty
arXiv preprint arXiv:2511.17774, 2025
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Using Temperature Sampling to Effectively Train Robot Learning Policies on Imbalanced Datasets
arXiv preprint arXiv:2510.19373, 2025
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Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization
IEEE Robotics and Automation Letters (RA-L), 2025
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Modeling of the High-Viscosity Fluid Transient Flow for Material Deposition in Direct Ink Writing
Additive Manufacturing, vol. 109, 104836, 2025
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This&That: Language-Gesture Controlled Video Generation for Robot Planning
IEEE International Conference on Robotics and Automation (ICRA), 2025
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Contrastive Touch-to-Touch Pretraining
IEEE International Conference on Robotics and Automation (ICRA), 2025
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Tactile Functasets: Neural Implicit Representations of Tactile Datasets
IEEE International Conference on Robotics and Automation (ICRA), 2025
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MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Sequential Interactions
The International Journal of Robotics Research (IJRR), 2025
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Hydrosoft: Non-Holonomic Hydroelastic Models for Compliant Tactile Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2025
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Cross-Sensor Touch Generation
9th Conference on Robot Learning (CoRL), 2025
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AimBot: A Simple Auxiliary Visual Cue to Enhance Spatial Awareness of Visuomotor Policies
9th Conference on Robot Learning (CoRL), 2025
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ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation
Robotics: Science and Systems (RSS), 2025
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Vib2Move: In-Hand Object Reconfiguration via Fingertip Micro-Vibrations
Robotics: Science and Systems (RSS), 2025
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RACER: Rich Language-guided Failure Recovery Policies for Imitation Learning
2025 IEEE International Conference on Robotics and Automation (ICRA), 2025
2024
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Built Different: Tactile Perception to Overcome Cross-Embodiment Capability Differences in Collaborative Manipulation
arXiv preprint arXiv:2409.14896, 2024
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Visual-auditory Extrinsic Contact Estimation
arXiv preprint arXiv:2409.14608, 2024
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RUMI: Rummaging Using Mutual Information
IEEE Transactions on Robotics (T-RO), 2024
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Neural Inverse Source Problems
Conference on Robot Learning (CoRL), 2024
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Touch2Touch: Cross-Modal Tactile Generation for Object Manipulation
arXiv preprint arXiv:2409.08269, 2024
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GelSlim 4.0: Focusing on Touch and Reproducibility
arXiv preprint arXiv:2409.19770, 2024
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Tactile Neural De-rendering
arXiv preprint arXiv:2409.13923, 2024
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Bimanual In-hand Manipulation using Dual Limit Surfaces
arXiv preprint arXiv:2409.14698, 2024
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Dual Asymmetric Limit Surfaces and Their Applications to Planar Manipulation
Autonomous Robots, 2024
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Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control
Robotics: Science and Systems (RSS), 2024
2023
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CALAMARI: Contact-Aware and Language conditioned spatial Action MApping for contact-RIch manipulation
Conference on Robot Learning (CoRL), 2023
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Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback
Robotics: Science and Systems (RSS), 2023
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TactileVAD: Geometric Aliasing-Aware Dynamics for High-Resolution Tactile Control
7th Annual Conference on Robot Learning (CoRL),2023
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MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile Feedback
Robotics: Science and Systems (RSS), 2023
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Precise Object Sliding with Top Contact via Asymmetric Dual Limit Surfaces
Robotics: Science and Systems (RSS), 2023
2022
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VIRDO++: Real-World, Visuo-tactile Dynamics and Perception of Deformable Objects
Conference on Robot Learning (CoRL), 2022
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Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing
Conference on Robot Learning (CoRL), 2022
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Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control
6th Annual Conference on Robot Learning (CoRL), 2022
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Visuo-Tactile Transformers for Manipulation
6th Annual Conference on Robot Learning (CoRL), 2022
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Simultaneous Contact Location and Object Pose Estimation Using Proprioception and Tactile Feedback
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3233-3240. (IEEE), 2022
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VIRDO: Visio-tactile implicit representations of deformable objects
2022 IEEE International Conference on Robotics and Automation (ICRA), 2022
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Soft Tracking Using Contacts for Cluttered Objects to Perform Blind Object Retrieval
2022 IEEE International Conference on Robotics and Automation (ICRA), 2022
2021
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TAMPC: A Controller for Escaping Traps in Novel Environments
IEEE Robotics and Automation Letters 6, no. 2 (2021): 1447-1454
2020
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Long-horizon prediction and uncertainty propagation with residual point contact learners
2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 7898-7904. IEEE, 2020
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Fundamental limitations in performance and interpretability of common planar rigid-body contact models
Robotics Research, pp. 555-571. Springer, Cham, 2020
2019
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Combining physical simulators and object-based networks for control
2019 International Conference on Robotics and Automation (ICRA), pp. 3217-3223. IEEE, 2019
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See, feel, act: Hierarchical learning for complex manipulation skills with multisensory fusion
Science Robotics 4, no. 26 (2019): eaav3123
2018
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Augmenting physical simulators with stochastic neural networks: Case study of planar pushing and bouncing
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3066-3073. IEEE, 2018
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Robotic pick-and-place of novel objects in clutter with multi-affordance grasping and cross-domain image matching
2018 IEEE international conference on robotics and automation (ICRA), pp. 3750-3757. IEEE, 2018
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Identifiability analysis of planar rigid-body frictional contact
Robotics Research, pp. 665-682. Springer, Cham, 2018
2017
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Learning data-efficient rigid-body contact models: Case study of planar impact
Conference on Robot Learning, pp. 388-397. PMLR, 2017
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Empirical evaluation of common contact models for planar impact
2017 IEEE international conference on robotics and automation (ICRA), pp. 3418-3425. IEEE, 2017
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Parameter and contact force estimation of planar rigid-bodies undergoing frictional contact
The International Journal of Robotics Research 36, no. 13-14 (2017): 1437-1454
2016
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More than a million ways to be pushed. a high-fidelity experimental dataset of planar pushing
2016 IEEE/RSJ international conference on intelligent robots and systems (IROS), pp. 30-37. IEEE, 2016
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A summary of team MIT’s approach to the amazon picking challenge 2015
arXiv preprint arXiv:1604.03639 (2016)
Biomedical engineering
2015
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Data-driven modeling of pharmacological systems using endpoint information fusion
Computers in biology and medicine 61 (2015): 36-47
2014
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Data-driven lossy tube-load modeling of arterial tree: in-human study
Journal of biomechanical engineering 136, no. 10 (2014): 101011
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Subject-specific estimation of central aortic blood pressure via system identification: preliminary in-human experimental study
Medical & biological engineering & computing 52, no. 10 (2014): 895-904
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Quantification of wave reflection using peripheral blood pressure waveforms
IEEE Journal of Biomedical and Health Informatics 19, no. 1 (2014): 309-316
2013
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Active Non-Intrusive System Identification for Cardiovascular Monitoring: Part II—Development of System Identifiction Algorithm
Dynamic Systems and Control Conference, vol. 56147, p. V003T43A004. American Society of Mechanical Engineers, 2013
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Modeling and system identification of arterial hemodynamics in humans
Dynamic Systems and Control Conference, vol. 56147, p. V003T43A003. American Society of Mechanical Engineers, 2013
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Non-invasive estimation of central blood pressure waveform using a dual diametric cuff system: a preliminary study
Frontiers in Biomedical Devices, vol. 56000, p. V001T08A003. American Society of Mechanical Engineers, 2013
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Subject-specific estimation of aortic blood pressure via system identification: Preliminary in-human experimental study
2013 American Control Conference, pp. 740-745. IEEE, 2013
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Comparative study on tube-load modeling of arterial hemodynamics in humans
Journal of biomechanical engineering 135, no. 3 (2013): 031005
2012
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Active Non-Intrusive System Identification for Cardiovascular Monitoring: Part I—Excitation and Measurement Protocol Design
Dynamic Systems and Control Conference, vol. 45295, pp. 543-551. American Society of Mechanical Engineers, 2012
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Estimation of cardiac output and peripheral resistance using square-wave-approximated aortic flow signal
Frontiers in physiology 3 (2012): 298