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07/16/2022
Autonomously Untangling Long Cables
Cables are ubiquitous in many settings and it is often useful to untangl...
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06/17/2022
Efficiently Learning Single-Arm Fling Motions to Smooth Garments
Recent work has shown that 2-arm "fling" motions can be effective for ga...
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03/03/2022
CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation
This paper studies the complex task of simultaneous multi-object 3D reco...
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11/08/2021
Planar Robot Casting with Real2Sim2Real Self-Supervised Learning
Manipulation of deformable objects using a single parameterized dynamic ...
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06/30/2021
SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo
Robot manipulation of unknown objects in unstructured environments is a ...
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06/29/2021
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies
Robot manipulation for untangling 1D deformable structures such as ropes...
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06/04/2021
Disentangling Dense Multi-Cable Knots
Disentangling two or more cables requires many steps to remove crossings...
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11/10/2020
Untangling Dense Knots by Learning Task-Relevant Keypoints
Untangling ropes, wires, and cables is a challenging task for robots due...
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03/03/2020
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data
Robotic manipulation of deformable 1D objects such as ropes, cables, and...
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09/30/2019
A Mobile Manipulation System for One-Shot Teaching of Complex Tasks in Homes
We describe a mobile manipulation hardware and software system capable o...
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11/19/2018
Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models
Generalizing manipulation skills to new situations requires extracting i...
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11/06/2018
A Dynamic Regret Analysis and Adaptive Regularization Algorithm for On-Policy Robot Imitation Learning
On-policy imitation learning algorithms such as Dagger evolve a robot co...
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09/26/2018
Robot Bed-Making: Deep Transfer Learning Using Depth Sensing of Deformable Fabric
Bed-making is a common task well-suited for home robots since it is tole...
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01/31/2018
Model-Free Error Detection and Recovery for Robot Learning from Demonstration
Learning from human demonstrations can facilitate automation but is risk...
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01/31/2018
Derivative-Free Failure Avoidance Control for Manipulation using Learned Support Constraints
Learning to accomplish tasks such as driving, grasping or surgery from s...
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11/07/2017