Uksang Yoo
Dexterous in-hand manipulation
Contact
Publications
SemAnCorr: Semantic Anchored Correspondence for Zero-Shot Manipulation Skill Transfer
X Dong, W Baron, H Chen, U Yoo, J Ichnowski, W Zhi
arXiv:2607.28382 · 2026
GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks
K Chen, S Xie, L Fu, J Yu, W Pacini, S Bajamahal, H Kim, J Drake, D Kim, ...
arXiv:2607.05369 · 2026
VibeAct: Vibration to Actions for Contact-Rich Reactive Robot Dexterity
Y Mao, U Yoo, J Oh, J Francis, J Ichnowski
arXiv:2606.27344 · 2026
DYMO-Hair: Generalizable Volumetric Dynamics Modeling for Robot Hair Manipulation
C Zhao, U Yoo, AN Chaudhury, G Nam, J Francis, J Ichnowski, J Oh
ICRA 2026
A-SLIP: Acoustic Sensing for Continuous In-hand Slip Estimation
U Yoo, Y Mao, J Oh, J Ichnowski
IROS 2026
Functional Force-Aware Retargeting from Virtual Human Demos to Soft Robot Policies
U Yoo, M Zhu, E Pezent, J Preechayasomboon, J Oh, J Ichnowski, ...
RSS 2026
PneuGelSight: Soft robotic vision-based proprioception and tactile sensing
R Zhang, U Yoo, Y Li, A Argawal, W Yuan
IJRR 2026
SOFTMAP: Sim2Real Soft Robot Forward Modeling via Topological Mesh Alignment and Physics Prior
Z Ma, U Yoo, J Francis, W Zhi, J Ichnowski, J Oh
IROS 2026
Visuo-Acoustic Hand Pose and Contact Estimation
Y Mao, U Yoo, Y Yao, SN Syed, L Bondi, J Francis, J Oh, J Ichnowski
arXiv:2508.00852 · 2025
KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands
U Yoo, J Francis, J Oh, J Ichnowski
CoRL 2025
Modeling Personalized Difficulty of Rehabilitation Exercises Using Causal Trees
N Dennler, Z Shi, U Yoo, S Nikolaidis, M Matarić
2025 International Conference On Rehabilitation Robotics (ICORR), 553-558
Soft and Compliant Contact-Rich Hair Manipulation and Care
U Yoo, N Dennler, E Xing, M Matarić, S Nikolaidis, J Ichnowski, J Oh
HRI 2025
SoftBiT: Soft Bimanual Teleoperation with Proprioceptive Visual Augmentation
T Inui, U Yoo, J Ichnowski, J Oh
HRI 2025 Workshop
Sonicboom: contact localization using array of microphones
M Lee, U Yoo, J Oh, J Ichnowski, G Kantor, O Kroemer
IEEE RA-L 2025
Inclusion in Assistive Haircare Robotics: Practical and Ethical Considerations in Hair Manipulation
U Yoo, N Dennler, S Patil, J Oh, J Ichnowski
HRI 2024 Workshop
Poe: Acoustic soft robotic proprioception for omnidirectional end-effectors
U Yoo, Z Lopez, J Ichnowski, J Oh
ICRA 2024
Pylips: an open-source python package to expand participation in embodied interaction
NS Dennler, E Torrence, U Yoo, S Nikolaidis, M Mataric
Adjunct Proceedings of the 37th Annual ACM Symposium on User Interface , 2024
Ropotter: Toward robotic pottery and deformable object manipulation with structural priors. In 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)
U Yoo, A Hung, J Francis, J Oh, J Ichnowski
Humanoids 2024
Toward zero-shot sim-to-real transfer learning for pneumatic soft robot 3d proprioceptive sensing
U Yoo, H Zhao, A Altamirano, W Yuan, C Feng
ICRA 2023
Four-dimensional tactile sensing system, device, and method
F ALAMBEIGI, U Yoo, N Ikoma, O Can Kara
WO Patent App. WO2023081342A1, 2022
In-Hand Pose Estimation with Optical Tactile Sensor for Robotic Electronics Assembly
U Yoo, W Yuan
Tech. Rep, 2022
Influence of antagonistic tensions on distributed friction forces of multisegment tendon-driven continuum manipulators with irregular geometry
Y Liu, U Yoo, S Ha, SF Atashzar, F Alambeigi
IEEE/ASME Transactions on Mechatronics 27 (5), 2418-2428, 2022
Analytical design of a pneumatic elastomer robot with deterministically adjusted stiffness
U Yoo, Y Liu, AD Deshpande, F Alamabeigi
IEEE RA-L 2021
Coolers Including Movable Thermoelectric Coolers and Related Methods
A Menta, U Yoo
US Patent App. US20210278109A1
Toward analytical modeling and evaluation of curvature-dependent distributed friction force in tendon-driven continuum manipulators
Y Liu, SH Ahn, U Yoo, AR Cohen, F Alambeigi
IROS 2020
Vision-Based Proprioception and Tactile Sensing for Soft Pneumatic Robots
R Zhang, U Yoo, Y Li, A Argawal, W Yuan
arXiv preprint