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03/29/2023
Bagging by Learning to Singulate Layers Using Interactive Perception
Many fabric handling and 2D deformable material tasks in homes and indus...
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11/16/2022
ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds
Point clouds are a widely available and canonical data modality which co...
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10/31/2022
AutoBag: Learning to Open Plastic Bags and Insert Objects
Thin plastic bags are ubiquitous in retail stores, healthcare, food hand...
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07/22/2022
Learning to Singulate Layers of Cloth using Tactile Feedback
Robotic manipulation of cloth has applications ranging from fabrics manu...
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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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11/08/2021
Planar Robot Casting with Real2Sim2Real Self-Supervised Learning
Manipulation of deformable objects using a single parameterized dynamic ...
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09/15/2021
DCUR: Data Curriculum for Teaching via Samples with Reinforcement Learning
Deep reinforcement learning (RL) has shown great empirical successes, bu...
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03/31/2021
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning
Corrective interventions while a robot is learning to automate a task pr...
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02/19/2021
VisuoSpatial Foresight for Physical Sequential Fabric Manipulation
Robotic fabric manipulation has applications in home robotics, textiles,...
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12/23/2020
Superhuman Surgical Peg Transfer Using Depth-Sensing and Deep Recurrent Neural Networks
We consider the automation of the well-known peg-transfer task from the ...
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12/06/2020
Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks
Rearranging and manipulating deformable objects such as cables, fabrics,...
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11/12/2020
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation
Automation of surgical tasks using cable-driven robots is challenging du...
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11/10/2020
Robots of the Lost Arc: Learning to Dynamically Manipulate Fixed-Endpoint Ropes and Cables
High-speed arm motions can dynamically manipulate ropes and cables to va...
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10/09/2020
MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects
We explore learning pixelwise correspondences between images of deformab...
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03/28/2020
Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images
Robotic fabric manipulation is challenging due to the infinite dimension...
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03/19/2020
VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation
Robotic fabric manipulation has applications in cloth and cable manageme...
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03/19/2020
Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation
Automation of surgical subtasks using cable-driven robotic surgical assi...
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02/15/2020
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot
Recent advances in depth-sensing have significantly increased accuracy, ...
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10/26/2019
ZPD Teaching Strategies for Deep Reinforcement Learning from Demonstrations
Learning from demonstrations is a popular tool for accelerating and redu...
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09/23/2019
Deep Imitation Learning of Sequential Fabric Smoothing Policies
Sequential pulling policies to flatten and smooth fabrics have applicati...
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03/31/2019
Risk Averse Robust Adversarial Reinforcement Learning
Deep reinforcement learning has recently made significant progress in so...
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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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10/19/2016
An Efficient Minibatch Acceptance Test for Metropolis-Hastings
We present a novel Metropolis-Hastings method for large datasets that us...
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11/19/2015