Jeffrey Ichnowski

research

∙ 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...

0 Kaiyuan Chen, et al. ∙

research

∙ 03/15/2023

Learning to Trace and Untangle Semi-planar Knots (TUSK)

This paper extends prior work on untangling long cables and presents TUS...

0 Vainavi Viswanath, et al. ∙

research

∙ 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...

0 Kaiyuan Chen, et al. ∙

research

∙ 10/13/2022

Learning to Efficiently Plan Robust Frictional Multi-Object Grasps

We consider a decluttering problem where multiple rigid convex polygonal...

17 Wisdom C. Agboh, et al. ∙

research

∙ 09/27/2022

SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception

Cables are commonplace in homes, hospitals, and industrial warehouses an...

4 Kaushik Shivakumar, et al. ∙

research

∙ 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...

0 Justin Kerr, et al. ∙

research

∙ 07/16/2022

Autonomously Untangling Long Cables

Cables are ubiquitous in many settings and it is often useful to untangl...

10 Vainavi Viswanath, et al. ∙

research

∙ 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...

0 Huang Huang, et al. ∙

research

∙ 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...

0 Lawrence Yunliang Chen, et al. ∙

research

∙ 06/17/2022

Optimal Shelf Arrangement to Minimize Robot Retrieval Time

Shelves are commonly used to store objects in homes, stores, and warehou...

0 Lawrence Yunliang Chen, et al. ∙

research

∙ 06/01/2022

Multi-Object Grasping in the Plane

We consider the problem where multiple rigid convex polygonal objects re...

22 Wisdom C. Agboh, et al. ∙

research

∙ 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 ...

0 Jeffrey Ichnowski, et al. ∙

research

∙ 03/16/2022

GOMP-ST: Grasp Optimized Motion Planning for Suction Transport

Suction cup grasping is very common in industry, but moving too quickly ...

0 Yahav Avigal, et al. ∙

research

∙ 03/08/2022

Policy-Based Bayesian Experimental Design for Non-Differentiable Implicit Models

For applications in healthcare, physics, energy, robotics, and many othe...

3 Vincent Lim, et al. ∙

research

∙ 01/22/2022

Mechanical Search on Shelves using a Novel "Bluction" Tool

Shelves are common in homes, warehouses, and commercial settings due to ...

27 Huang Huang, et al. ∙

research

∙ 12/08/2021

Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles

Robotic Surgical Assistants (RSAs) are commonly used to perform minimall...

0 Albert Wilcox, et al. ∙

research

∙ 11/29/2021

LEGS: Learning Efficient Grasp Sets for Exploratory Grasping

Previous work defined Exploratory Grasping, where a robot iteratively gr...

0 Letian Fu, et al. ∙

research

∙ 11/08/2021

Planar Robot Casting with Real2Sim2Real Self-Supervised Learning

Manipulation of deformable objects using a single parameterized dynamic ...

0 Vincent Lim, et al. ∙

research

∙ 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...

0 Jeffrey Ichnowski, et al. ∙

research

∙ 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...

5 Jeffrey Ichnowski, et al. ∙

research

∙ 08/25/2021

FogROS: An Adaptive Framework for Automating Fog Robotics Deployment

As many robot automation applications increasingly rely on multi-core pr...

0 Kaiyuan, et al. ∙

research

∙ 07/22/2021

Accelerating Quadratic Optimization with Reinforcement Learning

First-order methods for quadratic optimization such as OSQP are widely u...

10 Jeffrey Ichnowski, et al. ∙

research

∙ 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...

4 Shivin Devgon, et al. ∙

research

∙ 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...

0 Priya Sundaresan, et al. ∙

research

∙ 06/04/2021

Disentangling Dense Multi-Cable Knots

Disentangling two or more cables requires many steps to remove crossings...

7 Vainavi Viswanath, et al. ∙

research

∙ 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...

7 Shivin Devgon, et al. ∙

research

∙ 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 ...

0 Minho Hwang, et al. ∙

research

∙ 11/23/2020

Mechanical Search on Shelves using Lateral Access X-RAY

Efficiently finding an occluded object with lateral access arises in man...

0 Huang Huang, et al. ∙

research

∙ 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...

0 Samuel Paradis, et al. ∙

research

∙ 11/10/2020

Untangling Dense Knots by Learning Task-Relevant Keypoints

Untangling ropes, wires, and cables is a challenging task for robots due...

4 Jennifer Grannen, et al. ∙

research

∙ 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...

5 Harry Zhang, et al. ∙

research

∙ 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...

9 Minho Hwang, et al. ∙

research

∙ 03/05/2020

GOMP: Grasp-Optimized Motion Planning for Bin Picking

Rapid and reliable robot bin picking is a critical challenge in automati...

0 Jeffrey Ichnowski, et al. ∙

research

∙ 02/15/2020

Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot

Recent advances in depth-sensing have significantly increased accuracy, ...

0 Minho Hwang, et al. ∙

research

∙ 09/23/2019

Deep Imitation Learning of Sequential Fabric Smoothing Policies

Sequential pulling policies to flatten and smooth fabrics have applicati...

0 Daniel Seita, et al. ∙

Jeffrey Ichnowski

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