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07/08/2023
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation
Recent work has shown that complex manipulation skills, such as pushing ...
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10/25/2022
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality
Recent work has demonstrated the ability of deep reinforcement learning ...
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06/29/2022
Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions
The pipeline of current robotic pick-and-place methods typically consist...
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05/19/2022
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
We introduce a new simulation benchmark "HandoverSim" for human-to-robot...
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04/11/2022
Correcting Robot Plans with Natural Language Feedback
When humans design cost or goal specifications for robots, they often pr...
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03/31/2022
Model Predictive Control for Fluid Human-to-Robot Handovers
Human-robot handover is a fundamental yet challenging task in human-robo...
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03/21/2022
DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, inte...
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11/09/2021
Learning Perceptual Concepts by Bootstrapping from Human Queries
Robots need to be able to learn concepts from their users in order to ad...
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09/21/2021
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior
Classical mechanical systems are central to controller design in energy ...
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07/12/2021
DefGraspSim: Simulation-based grasping of 3D deformable objects
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, inte...
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04/28/2021
Fast Joint Space Model-Predictive Control for Reactive Manipulation
Sampling-based model predictive control (MPC) is a promising tool for fe...
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03/31/2021
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections
Tactile sensing is critical for robotic grasping and manipulation of obj...
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01/14/2021
Interpreting and Predicting Tactile Signals for the SynTouch BioTac
In the human hand, high-density contact information provided by afferent...
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11/12/2020
Joint Space Control via Deep Reinforcement Learning
The dominant way to control a robot manipulator uses hand-crafted differ...
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03/30/2020
In-Hand Object-Dynamics Inference using Tactile Fingertips
Having the ability to estimate an object's properties through interactio...
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01/25/2020
Multi-Fingered Grasp Planning via Inference in Deep Neural Networks
We propose a novel approach to multi-fingered grasp planning leveraging ...
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01/09/2020
Benchmarking In-Hand Manipulation
The purpose of this benchmark is to evaluate the planning and control as...
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10/02/2019
Learning Continuous 3D Reconstructions for Geometrically Aware Grasping
Deep learning has enabled remarkable improvements in grasp synthesis for...
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03/08/2019
Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing
To perform complex tasks, robots must be able to interact with and manip...
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11/08/2018
Learning Latent Space Dynamics for Tactile Servoing
In order to achieve a dexterous robotic manipulation, we need to equip o...
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10/15/2018
Robust Learning of Tactile Force Estimation through Robot Interaction
Current methods for estimating force from tactile sensor signals are eit...
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09/27/2018
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects
Using synthetic data for training deep neural networks for robotic manip...
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06/04/2018
Relaxed-Rigidity Constraints: Kinematic Trajectory Optimization and Collision Avoidance for In-Grasp Manipulation
This paper proposes a novel approach to performing in-grasp manipulation...
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04/12/2018
Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation
This paper explores the problem of autonomous, in-hand regrasping--the p...
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04/10/2018