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05/18/2023
Latent Space Planning for Multi-Object Manipulation with Environment-Aware Relational Classifiers
Objects rarely sit in isolation in everyday human environments. If we wa...
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05/08/2023
DeformerNet: Learning Bimanual Manipulation of 3D Deformable Objects
Applications in fields ranging from home care to warehouse fulfillment t...
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03/28/2023
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets
Robotic grasping of 3D deformable objects is critical for real-world app...
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12/16/2022
Planning Visual-Tactile Precision Grasps via Complementary Use of Vision and Touch
Reliably planning fingertip grasps for multi-fingered hands lies as a ke...
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11/08/2022
StructDiffusion: Object-Centric Diffusion for Semantic Rearrangement of Novel Objects
Robots operating in human environments must be able to rearrange objects...
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09/24/2022
Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers
Objects rarely sit in isolation in human environments. As such, we'd lik...
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08/12/2022
Occlusion-Robust Multi-Sensory Posture Estimation in Physical Human-Robot Interaction
3D posture estimation is important in analyzing and improving ergonomics...
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05/06/2022
DULA and DEBA: Differentiable Ergonomic Risk Models for Postural Assessment and Optimization in Ergonomically Intelligent pHRI
Ergonomics and human comfort are essential concerns in physical human-ro...
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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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03/21/2022
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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03/02/2022
L4KDE: Learning for KinoDynamic Tree Expansion
We present the Learning for KinoDynamic Tree Expansion (L4KDE) method fo...
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10/19/2021
StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects
Geometric organization of objects into semantically meaningful arrangeme...
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10/15/2021
Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots
Tendon-driven robots, a type of continuum robot, have the potential to r...
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10/12/2021
Planning Sensing Sequences for Subsurface 3D Tumor Mapping
Surgical automation has the potential to enable increased precision and ...
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10/10/2021
Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds
If robots could reliably manipulate the shape of 3D deformable objects, ...
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08/26/2021
Predicting Stable Configurations for Semantic Placement of Novel Objects
Human environments contain numerous objects configured in a variety of a...
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08/26/2021
Parallelised Diffeomorphic Sampling-based Motion Planning
We propose Parallelised Diffeomorphic Sampling-based Motion Planning (PD...
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08/12/2021
Ergonomically Intelligent Physical Human-Robot Interaction: Postural Estimation, Assessment, and Optimization
Ergonomics and human comfort are essential concerns in physical human-ro...
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07/16/2021
DeformerNet: A Deep Learning Approach to 3D Deformable Object Manipulation
In this paper, we propose a novel approach to 3D deformable object manip...
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07/14/2021
DULA: A Differentiable Ergonomics Model for Postural Optimization in Physical HRI
Ergonomics and human comfort are essential concerns in physical human-ro...
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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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01/08/2021
Optimizing Hospital Room Layout to Reduce the Risk of Patient Falls
Despite years of research into patient falls in hospital rooms, falls an...
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11/11/2020
Comparing Piezoresistive Substrates for Tactile Sensing in Dexterous Hands
While tactile skins have been shown to be useful for detecting collision...
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11/09/2020
Planning under Uncertainty to Goal Distributions
Goal spaces for planning problems are typically conceived of as subsets ...
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10/16/2020
Risk-Aware Decision Making in Service Robots to Minimize Risk of Patient Falls in Hospitals
Planning under uncertainty is a crucial capability for autonomous system...
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08/20/2020
Development of a Novel Computational Model for Evaluating Fall Risk in Patient Room Design
Objectives: The aims of this study are to identify factors in physical e...
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06/06/2020
Multi-Fingered Active Grasp Learning
Learning-based approaches to grasp planning are preferred over analytica...
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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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02/24/2020
Estimating Human Teleoperator Posture Using Only a Haptic-Input Device
Ergonomic analysis of human posture plays a vital role in understanding ...
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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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12/19/2019
A Model Predictive Approach for Online Mobile Manipulation of Nonholonomic Objects using Learned Dynamics
A particular type of assistive robots designed for physical interaction ...
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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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09/17/2019
Learning to Manipulate Object Collections Using Grounded State Representations
We propose a method for sim-to-real robot learning which exploits simula...
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07/08/2019
Assembly Planning by Subassembly Decomposition Using Blocking Reduction
The sequence in which a complex product is assembled directly impacts th...
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06/29/2019
Active Learning of Probabilistic Movement Primitives
A Probabilistic Movement Primitive (ProMP) defines a distribution over t...
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05/10/2019
Building 3D Object Models during Manipulation by Reconstruction-Aware Trajectory Optimization
Object shape provides important information for robotic manipulation; fo...
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01/10/2019
Modeling Grasp Type Improves Learning-Based Grasp Planning
Different manipulation tasks require different types of grasps. For exam...
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11/07/2018
Learning Task Constraints from Demonstration for Hybrid Force/Position Control
We present a novel method for learning hybrid force/position control fro...
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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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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
