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06/29/2023
FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity
The Robot Operating System (ROS2) is the most widely used software platf...
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03/15/2023
Learning to Trace and Untangle Semi-planar Knots (TUSK)
This paper extends prior work on untangling long cables and presents TUS...
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10/21/2022
FogROS G: Enabling Secure, Connected and Mobile Fog Robotics with Global Addressability
Fog Robotics renders networked robots with greater mobility, on-demand c...
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10/13/2022
Learning to Efficiently Plan Robust Frictional Multi-Object Grasps
We consider a decluttering problem where multiple rigid convex polygonal...
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09/27/2022
SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception
Cables are commonplace in homes, hospitals, and industrial warehouses an...
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09/26/2022
Learning Self-Supervised Representations from Vision and Touch for Active Sliding Perception of Deformable Surfaces
Humans make extensive use of vision and touch as complementary senses, w...
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07/16/2022
Autonomously Untangling Long Cables
Cables are ubiquitous in many settings and it is often useful to untangl...
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07/05/2022
Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects
Stacking increases storage efficiency in shelves, but the lack of visibi...
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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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06/17/2022
Optimal Shelf Arrangement to Minimize Robot Retrieval Time
Shelves are commonly used to store objects in homes, stores, and warehou...
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06/01/2022
Multi-Object Grasping in the Plane
We consider the problem where multiple rigid convex polygonal objects re...
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05/19/2022
FogROS 2: An Adaptive and Extensible Platform for Cloud and Fog Robotics Using ROS 2
Mobility, power, and price points often dictate that robots do not have ...
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03/16/2022
GOMP-ST: Grasp Optimized Motion Planning for Suction Transport
Suction cup grasping is very common in industry, but moving too quickly ...
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03/08/2022
Policy-Based Bayesian Experimental Design for Non-Differentiable Implicit Models
For applications in healthcare, physics, energy, robotics, and many othe...
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01/22/2022
Mechanical Search on Shelves using a Novel "Bluction" Tool
Shelves are common in homes, warehouses, and commercial settings due to ...
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12/08/2021
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles
Robotic Surgical Assistants (RSAs) are commonly used to perform minimall...
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11/29/2021
LEGS: Learning Efficient Grasp Sets for Exploratory Grasping
Previous work defined Exploratory Grasping, where a robot iteratively gr...
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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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10/28/2021
GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport
High-speed motions in pick-and-place operations are critical to making r...
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10/27/2021
Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects
The ability to grasp and manipulate transparent objects is a major chall...
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08/25/2021
FogROS: An Adaptive Framework for Automating Fog Robotics Deployment
As many robot automation applications increasingly rely on multi-core pr...
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07/22/2021
Accelerating Quadratic Optimization with Reinforcement Learning
First-order methods for quadratic optimization such as OSQP are widely u...
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07/13/2021
Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities
In industrial part kitting, 3D objects are inserted into cavities for tr...
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06/29/2021
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies
Robot manipulation for untangling 1D deformable structures such as ropes...
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06/04/2021
Disentangling Dense Multi-Cable Knots
Disentangling two or more cables requires many steps to remove crossings...
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05/29/2021
Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms
Orienting objects is a critical component in the automation of many pack...
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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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11/23/2020
Mechanical Search on Shelves using Lateral Access X-RAY
Efficiently finding an occluded object with lateral access arises in man...
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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
Untangling Dense Knots by Learning Task-Relevant Keypoints
Untangling ropes, wires, and cables is a challenging task for robots due...
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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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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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03/05/2020
GOMP: Grasp-Optimized Motion Planning for Bin Picking
Rapid and reliable robot bin picking is a critical challenge in automati...
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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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09/23/2019