Steven Oh

Email: oh.steven [at] fuji.waseda.jp

I am a fourth-year undergraduate student at Waseda University, majoring in Mechanical Engineering with a minor in Computer Science. I am currently a visiting scholar at Carnegie Mellon University, working with Prof. Deepak Pathak and Prof. Nancy Pollard. At Waseda University, I conduct undergraduate research under the supervision of Prof. Tetsuya Ogata and Prof. Shigeki Sugano.

Previously, I was a robotics research intern at OMRON SINIC X, and a visiting scholar at Imperial College London, advised by Dr. Dandan Zhang. During my high school years, I participated in a robotics research project at RIKEN under the guidance of Prof. Shingo Shimoda.

LinkedIn  / 

profile photo

Life Updates

[November 2025] -- I will be joining CMU as a visiting scholar working with Prof. Nancy Pollard and Prof. Deepak Pathak.

Research

I am broadly interested in compliance control, tactile sensing, and contact-rich manipulation via behavior cloning.

project image

CLAW: A Soft Wrist with Anisotropic and Selective Stiffness for Safe Robot Learning in Contact-rich Manipulation

Steven Oh*, Tomoya Takahashi*, Cristian Camilo Beltran-Hernandez, Yuki Kuroda, Masashi Hamaya
Under review
CoRL 2025 Open Hardware Workshop
arxiv / paper

CLAW is a novel soft wrist mechanism providing large 6-DoF deformation and mode-switchable anisotropic stiffness for robust contact-rich manipulation.
project image

TacEva: A Performance Evaluation Framework for Vision-Based Tactile Sensors

Qingzheng Cong*, Steven Oh*, Wen Fan*, Shan Luo, Kasper Althoefer, Dandan Zhang
Advanced Intelligent Systems (JCR Q1, IF: 6.1)
arxiv / wiley / website

TacEva is a performance evaluation framework for vision-based tactile sensors that provides standardized benchmarks and metrics for assessing sensor capabilities in contact-rich manipulation tasks.
project image

Refinement of Accelerated Demonstrations via Incremental Iterative Reference Learning Control for Fast Contact-Rich Imitation Learning

Koki Yamane, Cristian C. Beltran-Hernande, Steven Oh, Masashi Hamaya, Sho Sakaino
Under review

We propose I2RLC to safely refine accelerated demonstrations for fast, contact-rich manipulation by progressively increasing execution speed while iteratively reducing tracking error.


Projects

This includes coursework, side projects, and engineering work.

project image

Fine tuning VLA models on Torobo Humanoid Robots

Internship project with Tokyo Robotics
video

Developed a ROS-based data collection pipeline and an AWS SageMaker training pipeline, and fine-tuned Octo for pick-and-place manipulation tasks.
project image

Robot sketching system with vector flow

Research project at Toyota-RIKEN collaboration center

Designed robotic pencil sketching system using vector flow-based algorithm to process internet images and torque control to draw high-fidelity pencil sketch.