ARMLab

ARMLab

Lab Timeline

Papers, defenses, and milestones, newest first. Every joint is an entry; follow the chain down to the base.

  1. 2026
  2. Paper RA-L

    Learning Humanoid Navigation From Human Data

    IEEE Robotics and Automation Letters (RA-L)

  3. Ph.D. defense

    Shivani Guptasarma defended their thesis

    Thesis: Task Space Approaches to Simplify the Operation of Robotic Upper Limb Prostheses

  4. Ph.D. defense

    Weizhuo (Ken) Wang defended their thesis

    Thesis: Learning for Long-Horizon Humanoid Autonomy

  5. Ph.D. defense

    Aliyah Smith defended their thesis

    Thesis: Augmented Interfaces for Non-expert Robotic Teleoperation and Human-Robot Interaction

  6. Paper ICRA 2026

    DOT-Sim: Differentiable Optical Tactile Simulation with Precise Real-to-Sim Physical Calibration

    IEEE ICRA 2026

  7. Paper T-RO

    TensorTouch: Calibration of Tactile Sensors for High Resolution Stress Tensor and Deformation for Dexterous Manipulation

    IEEE Transactions on Robotics

  8. Paper CoRL 2026

    Sparse Autoencoders Reveal Interpretable and Steerable Features in VLA Models

    Accepted into CoRL 2026

  9. Paper arXiv

    Towards Accessible Robot Control: Comparing Kinesthetic Teaching, SpaceMouse Teleoperation, and a Mixed Reality Interface

    arXiv

  10. Paper arXiv

    Locomotion Beyond Feet

    arXiv

  11. 2025
  12. Paper RA-L

    DexFruit: Dexterous Manipulation and Gaussian Splatting Inspection of Fruit

    IEEE Robotics and Automation Letters (RA-L)

  13. Paper arXiv

    The Role of Consequential and Functional Sound in Human-Robot Interaction: Toward Audio Augmented Reality Interfaces

    Arxiv

  14. Paper IROS 2025

    Understanding and Imitating Human-Robot Motion with Restricted Visual Fields

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

  15. Paper IROS 2025

    Dynamic Layer Detection of Thin Materials using DenseTact Optical Tactile Sensors

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

  16. Ph.D. defense

    Won Kyung Do defended their thesis

    Thesis: Improving Robotic Dexterity With Optical Tactile Sensor DenseTact

  17. Paper ICRA

    A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps

    International Conference on Robotics and Automation (ICRA)

  18. Paper arXiv

    J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators

    Arxiv

  19. Paper arXiv

    Diffusion-SAFE: Shared Autonomy Framework with Diffusion for Safe Human-to-Robot Driving Handover

    Arxiv

  20. Paper arXiv

    Localization of Vibrotactile Stimuli on the Face

    Arxiv

  21. Paper IEEE TNSRE

    ProACT: An Augmented Reality Testbed for Intelligent Prosthetic Arms

    IEEE Transactions on Neural Systems and Rehabilitation Engineering

  22. Paper ICRA

    Next Best Sense: Guiding Vision and Touch with FisherRF for 3D Gaussian Splatting

    International Conference on Robotics and Automation (ICRA)

  23. 2024
  24. Paper ICNR

    Facial Haptic Feedback for Robotic Prostheses

    Converging Clinical and Engineering Research on Neurorehabilitation V

  25. Paper IROS

    Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

  26. Paper CoRL

    Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting

    CoRL

  27. Paper ICRA

    DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects From Flat Surfaces

    International Conference on Robotics and Automation (ICRA)

  28. Paper arXiv

    EgoNav: Egocentric Scene-aware Human Trajectory Prediction

    arXiv

  29. Paper SN Computer Science

    Embedded Object Detection and Mapping in Soft Materials Using Optical Tactile Sensing

    SN Computer Science

  30. 2023
  31. Paper RA-L

    Diffusion Co-Policy for Synergistic Human-Robot Collaborative Tasks

    IEEE Robotics and Automation Letters

  32. Paper RA-L

    Inter-finger Small Object Manipulation With DenseTact Optical Tactile Sensor

    IEEE Robotics and Automation Letters

  33. Paper arXiv

    Considerations for the Control Design of Augmentative Robots

    arXiv

  34. Paper Science Robotics

    The role of collaborative robotics in assistive and rehabilitation applications

    Science Robotics

  35. Ph.D. defense

    Eley Ng defended their thesis

    Thesis: Long-Horizon Prediction for Human-Robot Collaboration

  36. Paper ICRA 2023

    DenseTact 2.0: Optical Tactile Sensor for Shape and Force Reconstruction

    2023 IEEE International Conference on Robotics and Automation (ICRA)

  37. Paper ICRA 2023

    Trajectory and Sway Prediction Towards Fall Prevention

    2023 IEEE International Conference on Robotics and Automation (ICRA)

  38. Paper ICRA 2023

    It Takes Two: Learning to Plan for Human-Robot Cooperative Carrying

    2023 IEEE International Conference on Robotics and Automation (ICRA)

  39. 2022
  40. Paper ICRA

    DenseTact: Optical Tactile Sensor for Dense Shape Reconstruction

    International Conference on Robotics and Automation (ICRA)

  41. 2021
  42. Paper ICRA 2021

    Replay Overshooting: Learning Stochastic Latent Dynamics with the Extended Kalman Filter

    2021 IEEE International Conference on Robotics and Automation (ICRA)

  43. 2020
  44. Paper RSS Workshop 2020

    Recent Development in Human Motion and Gait Prediction

    RSS 2020 Workshop RobRetro

  45. 2019
  46. Paper Ph.D. Thesis

    Modeling And Control For Robotic Assistants: Single And Multi-Robot Manipulation

    University of Pennsylvania