Alberto Rodriguez

research

∙ 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...

0 Maria Bauza, et al. ∙

research

∙ 07/10/2023

Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement

We propose a system for rearranging objects in a scene to achieve a desi...

0 Anthony Simeonov, et al. ∙

research

∙ 03/06/2023

Simultaneous Tactile Estimation and Control of Extrinsic Contact

We propose a method that simultaneously estimates and controls extrinsic...

0 Sangwoon Kim, et al. ∙

research

∙ 12/09/2022

Visuotactile Affordances for Cloth Manipulation with Local Control

Cloth in the real world is often crumpled, self-occluded, or folded in o...

0 Neha Sunil, et al. ∙

research

∙ 11/17/2022

SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields

We present a method for performing tasks involving spatial relations bet...

0 Anthony Simeonov, et al. ∙

research

∙ 07/30/2022

Robust Planning for Multi-stage Forceful Manipulation

Multi-step forceful manipulation tasks, such as opening a push-and-twist...

0 Rachel Holladay, et al. ∙

research

∙ 04/25/2022

Tac2Pose: Tactile Object Pose Estimation from the First Touch

In this paper, we present Tac2Pose, an object-specific approach to tacti...

4 Maria Bauza, et al. ∙

research

∙ 03/03/2022

NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields

Thin, reflective objects such as forks and whisks are common in our dail...

8 Lin Yen-Chen, et al. ∙

research

∙ 03/02/2022

Manipulation of unknown objects via contact configuration regulation

We present an approach to robotic manipulation of unknown objects throug...

0 Neel Doshi, et al. ∙

research

∙ 12/09/2021

Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation

We present Neural Descriptor Fields (NDFs), an object representation tha...

7 Anthony Simeonov, et al. ∙

research

∙ 10/07/2021

Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertion

We propose a method that actively estimates the location of contact betw...

0 Sangwoon Kim, et al. ∙

research

∙ 04/02/2021

Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry

Object insertion is a classic contact-rich manipulation task. The task r...

0 Siyuan Dong, et al. ∙

research

∙ 03/23/2021

GelSlim3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger

This work presents a new version of the tactile-sensing finger GelSlim 3...

0 Ian Taylor, et al. ∙

research

∙ 03/15/2021

Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements

This paper addresses the localization of contacts of an unknown grasped ...

0 Daolin Ma, et al. ∙

research

∙ 01/07/2021

Planning for Multi-stage Forceful Manipulation

Multi-stage forceful manipulation tasks, such as twisting a nut on a bol...

0 Rachel Holladay, et al. ∙

research

∙ 12/31/2020

Robotic Grasping of Fully-Occluded Objects using RF Perception

We present the design, implementation, and evaluation of RF-Grasp, a rob...

8 Tara Boroushaki, et al. ∙

research

∙ 12/10/2020

iNeRF: Inverting Neural Radiance Fields for Pose Estimation

We present iNeRF, a framework that performs pose estimation by "invertin...

0 Lin Yen-Chen, et al. ∙

research

∙ 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...

0 Maria Bauza, et al. ∙

research

∙ 11/16/2020

A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects

We present a framework for solving long-horizon planning problems involv...

6 Anthony Simeonov, et al. ∙

research

∙ 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...

0 Sudharshan Suresh, et al. ∙

research

∙ 09/08/2020

Long-Horizon Prediction and Uncertainty Propagation with Residual Point Contact Learners

The ability to simulate and predict the outcome of contacts is paramount...

0 Nima Fazeli, et al. ∙

research

∙ 02/08/2020

Tactile Dexterity: Manipulation Primitives with Tactile Feedback

This paper develops closed-loop tactile controllers for dexterous manipu...

0 Francois R. Hogan, et al. ∙

research

∙ 11/08/2019

Accurate Vision-based Manipulation through Contact Reasoning

Planning contact interactions is one of the core challenges of many robo...

18 Alina Kloss, et al. ∙

research

∙ 11/01/2019

Hybrid Differential Dynamic Programming for Planar Manipulation Primitives

We present a hybrid differential dynamic programming algorithm for close...

0 Neel Doshi, et al. ∙

research

∙ 11/01/2019

Hybrid Differential Dynamic Programming for Planar Manipulation Primitive

We present a hybrid differential dynamic programming algorithm for close...

0 Neel Doshi, et al. ∙

research

∙ 10/03/2019

Cable Manipulation with a Tactile-Reactive Gripper

Manipulation of flexible cables is relevant to both industrial and house...

0 Yu She, et al. ∙

research

∙ 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...

7 Maria Bauza, et al. ∙

research

∙ 09/12/2019

Tactile-Based Insertion for Dense Box-Packing

We study the problem of using high-resolution tactile sensors to control...

0 Siyuan Dong, et al. ∙

research

∙ 09/09/2019

Certified Grasping

This paper studies robustness in planar grasping from a geometric perspe...

0 Bernardo Aceituno-Cabezas, et al. ∙

research

∙ 04/24/2019

Tactile Mapping and Localization from High-Resolution Tactile Imprints

This work studies the problem of shape reconstruction and object localiz...

0 Maria Bauza, et al. ∙

research

∙ 04/18/2019

Graph Element Networks: adaptive, structured computation and memory

We explore the use of graph neural networks (GNNs) to model spatial proc...

30 Ferran Alet, et al. ∙

research

∙ 04/13/2019

Combining Physical Simulators and Object-Based Networks for Control

Physics engines play an important role in robot planning and control; ho...

0 Anurag Ajay, et al. ∙

research

∙ 03/27/2019

TossingBot: Learning to Throw Arbitrary Objects with Residual Physics

We investigate whether a robot arm can learn to pick and throw arbitrary...

8 Andy Zeng, et al. ∙

research

∙ 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...

0 Ferran Alet, et al. ∙

research

∙ 10/31/2018

Maintaining Grasps within Slipping Bound by Monitoring Incipient Slip

In this paper, we propose an approach to detect incipient slip, i.e. pre...

0 Siyuan Dong, et al. ∙

research

∙ 10/10/2018

Dense Tactile Force Distribution Estimation using GelSlim and inverse FEM

In this paper, we present a new version of tactile sensor GelSlim 2.0 wi...

0 Daolin Ma, et al. ∙

research

∙ 09/29/2018

In-Hand Manipulation via Motion Cones

In this paper, we present the mechanics and algorithms to compute the se...

0 Nikhil Chavan Dafle, et al. ∙

research

∙ 09/23/2018

Regrasping by Fixtureless Fixturing

This paper presents a fixturing strategy for regrasping that does not re...

0 Nikhil Chavan Dafle, et al. ∙

research

∙ 09/22/2018

Pneumatic Shape-shifting Fingers to Reorient and Grasp

We present pneumatic shape-shifting fingers to enable a simple parallel-...

0 Nikhil Chavan Dafle, et al. ∙

research

∙ 09/17/2018

A Convex-Combinatorial Model for Planar Caging

Caging is a promising tool which allows a robot to manipulate an object ...

0 Bernardo Aceituno-Cabezas, et al. ∙

research

∙ 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...

0 Anurag Ajay, et al. ∙

research

∙ 07/26/2018

A Data-Efficient Approach to Precise and Controlled Pushing

Decades of research in control theory have shown that simple controllers...

0 Francois R. Hogan, et al. ∙

research

∙ 03/27/2018

Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning

Skilled robotic manipulation benefits from complex synergies between non...

0 Andy Zeng, et al. ∙

research

∙ 03/21/2018

Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object

We develop a real-time state estimation system to recover the pose and c...

0 Kuan-Ting Yu, et al. ∙

research

∙ 03/05/2018

Tactile Regrasp: Grasp Adjustments via Simulated Tactile Transformations

This paper presents a novel regrasp control policy that makes use of tac...

0 Francois R. Hogan, et al. ∙

research

∙ 03/01/2018

GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger

This work describes the development of a high-resolution tactile-sensing...

0 Elliott Donlon, et al. ∙

research

∙ 02/27/2018

Friction Variability in Auto-collected Dataset of Planar Pushing Experiments and Anisotropic Friction

Friction plays a key role in manipulating objects. Most of what we do wi...

0 Daolin Ma, et al. ∙

research

∙ 10/30/2017

Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts

This paper presents an approach to in-hand manipulation planning that ex...

0 Nikhil Chavan Dafle, et al. ∙

research

∙ 10/16/2017

Learning Data-Efficient Rigid-Body Contact Models: Case Study of Planar Impact

In this paper we demonstrate the limitations of common rigid-body contac...

0 Nima Fazeli, et al. ∙

research

∙ 10/16/2017

Reactive Planar Manipulation with Convex Hybrid MPC

This paper presents a reactive controller for planar manipulation tasks ...

0 Francois Robert Hogan, et al. ∙

Alberto Rodriguez

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