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07/24/2023
simPLE: a visuotactile method learned in simulation to precisely pick, localize, regrasp, and place objects
Existing robotic systems have a clear tension between generality and pre...
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06/20/2023
RoboCat: A Self-Improving Foundation Agent for Robotic Manipulation
The ability to leverage heterogeneous robotic experience from different ...
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03/14/2023
FingerSLAM: Closed-loop Unknown Object Localization and Reconstruction from Visuo-tactile Feedback
In this paper, we address the problem of using visuo-tactile feedback fo...
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04/25/2022
Tac2Pose: Tactile Object Pose Estimation from the First Touch
In this paper, we present Tac2Pose, an object-specific approach to tacti...
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12/09/2020
Tactile Object Pose Estimation from the First Touch with Geometric Contact Rendering
In this paper, we present an approach to tactile pose estimation from th...
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11/13/2020
Tactile SLAM: Real-time inference of shape and pose from planar pushing
Tactile perception is central to robot manipulation in unstructured envi...
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11/12/2019
Experience-Embedded Visual Foresight
Visual foresight gives an agent a window into the future, which it can u...
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11/08/2019
Accurate Vision-based Manipulation through Contact Reasoning
Planning contact interactions is one of the core challenges of many robo...
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10/01/2019
Omnipush: accurate, diverse, real-world dataset of pushing dynamics with RGB-D video
Pushing is a fundamental robotic skill. Existing work has shown how to e...
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04/24/2019
Tactile Mapping and Localization from High-Resolution Tactile Imprints
This work studies the problem of shape reconstruction and object localiz...
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04/18/2019
Graph Element Networks: adaptive, structured computation and memory
We explore the use of graph neural networks (GNNs) to model spatial proc...
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04/13/2019
Combining Physical Simulators and Object-Based Networks for Control
Physics engines play an important role in robot planning and control; ho...
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12/19/2018
Modular meta-learning in abstract graph networks for combinatorial generalization
Modular meta-learning is a new framework that generalizes to unseen data...
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08/09/2018
Augmenting Physical Simulators with Stochastic Neural Networks: Case Study of Planar Pushing and Bouncing
An efficient, generalizable physical simulator with universal uncertaint...
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07/26/2018
A Data-Efficient Approach to Precise and Controlled Pushing
Decades of research in control theory have shown that simple controllers...
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03/05/2018
Tactile Regrasp: Grasp Adjustments via Simulated Tactile Transformations
This paper presents a novel regrasp control policy that makes use of tac...
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10/03/2017
Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching
This paper presents a robotic pick-and-place system that is capable of g...
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09/23/2017
GP-SUM. Gaussian Processes Filtering of non-Gaussian Beliefs
This work centers on the problem of stochastic filtering for systems tha...
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04/10/2017