Modular Self-Reconfigurable Continuum Robot for General Purpose Loco-Manipulation
Yi-Lin Cai, Haokai Xu, Ieee Yifan Wang Graduate Student Member et al.
· 0 citations
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Open access
Aug 2026
Evolutionary diversification via modular compliance for self-reconfigurable continuum robots
Modular self-reconfigurable robots promise adaptability through changes in morphology, yet most existing systems remain limited by low functional density, rigid modules, and constrained docking interfaces that restrict scalable locomotion and manipulation. In contrast, biological organisms achieve rich behavioral diver...
Yi-Lin Cai, Zhefeng Huang, Yifan Wang et al.
· Science Advances · 1 citation
Jul 2026
Failure Detection for Surgical Robot Imitation Policies via Flow-Matching World Modeling
FoMo-FD (Flow-Matching World Model for Failure Detection), a failure detection method that learns nominal short-horizon visual dynamics with an action-conditioned flow-matching world model, outperforms observation-level anomaly baselines and a prediction-error variant of the same world model.
Zhefeng Huang, Yi-Lin Cai, Ankit B. Patel et al.
· arXiv.org · 3 citations