Authors

Dennis Hong

Publications 2

Preprint Open access

Around the World: Unified Learned Locomotion on a 270 g Continuous-Rotation Quadruped

Arturo Flores Alvarez, Nathan Lintu, Dennis Hong · 2026

Closed-loop learned locomotion is established on commercial quadrupeds but remains uncommon at the sub-kilogram scale. Continuous-rotation legs give MiNI-Q, a 270 g quadruped, access to supporting configurations on either side of the body. We exploit this range with a single posture-conditioned reinforcement-learning p …

Preprint Open access

Visible Touch: Rendering Contact for Visuomotor Policies

Metin Alp Dogan, Edward Sun, Feng Xu et al. · 2026

Integrating contact information into visuomotor policies remains an open problem. Touch is essential to robust manipulation, yet most modern policies, including pretrained vision-language-action (VLA) models, operate from vision and proprioception alone. Existing approaches to closing this gap require specialized tacti …

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