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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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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...
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03/06/2023
Simultaneous Tactile Estimation and Control of Extrinsic Contact
We propose a method that simultaneously estimates and controls extrinsic...
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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...
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11/17/2022
SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields
We present a method for performing tasks involving spatial relations bet...
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07/30/2022
Robust Planning for Multi-stage Forceful Manipulation
Multi-step forceful manipulation tasks, such as opening a push-and-twist...
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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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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...
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03/02/2022
Manipulation of unknown objects via contact configuration regulation
We present an approach to robotic manipulation of unknown objects throug...
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12/09/2021
Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation
We present Neural Descriptor Fields (NDFs), an object representation tha...
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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...
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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...
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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...
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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 ...
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01/07/2021
Planning for Multi-stage Forceful Manipulation
Multi-stage forceful manipulation tasks, such as twisting a nut on a bol...
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12/31/2020
Robotic Grasping of Fully-Occluded Objects using RF Perception
We present the design, implementation, and evaluation of RF-Grasp, a rob...
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12/10/2020
iNeRF: Inverting Neural Radiance Fields for Pose Estimation
We present iNeRF, a framework that performs pose estimation by "invertin...
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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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11/16/2020
A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
We present a framework for solving long-horizon planning problems involv...
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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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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...
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02/08/2020
Tactile Dexterity: Manipulation Primitives with Tactile Feedback
This paper develops closed-loop tactile controllers for dexterous manipu...
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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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11/01/2019
Hybrid Differential Dynamic Programming for Planar Manipulation Primitives
We present a hybrid differential dynamic programming algorithm for close...
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11/01/2019
Hybrid Differential Dynamic Programming for Planar Manipulation Primitive
We present a hybrid differential dynamic programming algorithm for close...
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10/03/2019
Cable Manipulation with a Tactile-Reactive Gripper
Manipulation of flexible cables is relevant to both industrial and house...
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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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09/12/2019
Tactile-Based Insertion for Dense Box-Packing
We study the problem of using high-resolution tactile sensors to control...
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09/09/2019
Certified Grasping
This paper studies robustness in planar grasping from a geometric perspe...
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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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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...
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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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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...
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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...
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09/29/2018
In-Hand Manipulation via Motion Cones
In this paper, we present the mechanics and algorithms to compute the se...
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09/23/2018
Regrasping by Fixtureless Fixturing
This paper presents a fixturing strategy for regrasping that does not re...
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09/22/2018
Pneumatic Shape-shifting Fingers to Reorient and Grasp
We present pneumatic shape-shifting fingers to enable a simple parallel-...
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09/17/2018
A Convex-Combinatorial Model for Planar Caging
Caging is a promising tool which allows a robot to manipulate an object ...
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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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03/27/2018
Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning
Skilled robotic manipulation benefits from complex synergies between non...
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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...
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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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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...
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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...
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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...
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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...
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10/16/2017