Author

Mu-Yuan Ma

h-index 2 View on Semantic Scholar

We have 3 of 14 papers

We haven’t gathered this author’s papers yet. Follow them and we’ll fetch their work.

Not the right person? Other researchers publish under this name.

Preprint Sep 2026

InsertAnything: Generalizable Contact-Rich Precision Insertion from Simulation to Reality

Contact-rich precision insertion is a key manipulation skill in robotic assembly. Tight clearances make insertion more sensitive to alignment errors and prone to collisions and jamming, while variations in geometry and clearance across parts further complicate policy reuse. We present a reinforcement learning framework...

Zheng-Feng Ma, Xin-Pan Meng, Ze-Yu Liu et al. · 0 citations

Preprint Sep 2026

MuJoCable: Reduced-Order Surface-Routed Cable Transmission for Tendon-Driven Robots

Tendon transmissions reduce distal inertia and add compliance, yet routing, slack, and friction govern motion and force transfer. Mainstream rigid-body robotics simulators such as MuJoCo do not jointly resolve moving noncircular contact, unilateral tension, and segment friction. We present MuJoCable, which adds a reduc...

Yi Zhang, Qi-Bing Shao, Yi-Cong Lin et al. · 0 citations

Preprint Sep 2026

GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives

GeoTrussRover combines an electrically actuated VGT, a wheeled base, and contact-semantic morphology planning and control, which stores task coordination in a hyper-redundant, load-bearing morphology and reuses it during locomotion.

Mu-Yuan Ma, Yi Zhang, Yang Yang et al. · 0 citations