Karl Van Wyk | DeepAI

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∙ 09/14/2023

Fabrics: A Foundationally Stable Medium for Encoding Prior Experience

Most dynamics functions are not well-aligned to task requirements. Contr...

0 Nathan Ratliff, et al. ∙

∙ 10/25/2022

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality

Recent work has demonstrated the ability of deep reinforcement learning ...

0 Ankur Handa, et al. ∙

∙ 10/24/2022

Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation

Dexterous robotic hands have the capability to interact with a wide vari...

0 Zoey Qiuyu Chen, et al. ∙

∙ 09/28/2022

DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrations

Teaching a multi-fingered dexterous robot to grasp objects in the real w...

4 Zoey Qiuyu Chen, et al. ∙

∙ 09/21/2021

Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior

Classical mechanical systems are central to controller design in energy ...

0 Karl Van Wyk, et al. ∙

∙ 05/07/2021

CoDE: Collocation for Demonstration Encoding

Roboticists frequently turn to Imitation learning (IL) for data efficien...

2 Mandy Xie, et al. ∙

∙ 04/09/2021

DexYCB: A Benchmark for Capturing Hand Grasping of Objects

We introduce DexYCB, a new dataset for capturing hand grasping of object...

5 Yu-Wei Chao, et al. ∙

∙ 03/10/2021

RMP2: A Structured Composable Policy Class for Robot Learning

We consider the problem of learning motion policies for acceleration-bas...

0 Anqi Li, et al. ∙

∙ 01/14/2021

Interpreting and Predicting Tactile Signals for the SynTouch BioTac

In the human hand, high-density contact information provided by afferent...

0 Yashraj S. Narang, et al. ∙

∙ 10/28/2020

Geometric Fabrics for the Acceleration-based Design of Robotic Motion

This paper describes the pragmatic design and construction of geometric ...

0 Mandy Xie, et al. ∙

∙ 10/28/2020

Optimization Fabrics for Behavioral Design

Second-order differential equations define smooth system behavior. In ge...

0 Nathan D. Ratliff, et al. ∙

∙ 10/28/2020

Generalized Nonlinear and Finsler Geometry for Robotics

Robotics research has found numerous important applications of Riemannia...

0 Nathan D. Ratliff, et al. ∙

∙ 08/05/2020

Optimization Fabrics

This paper presents a theory of optimization fabrics, second-order diffe...

0 Nathan D. Ratliff, et al. ∙

∙ 06/06/2020

Interpreting and Predicting Tactile Signals via a Physics-Based and Data-Driven Framework

High-density afferents in the human hand have long been regarded as esse...

0 Yashraj S. Narang, et al. ∙

∙ 02/27/2020

In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation

Tracking the pose of an object while it is being held and manipulated by...

0 Jacky Liang, et al. ∙

∙ 10/07/2019

DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System

Teleoperation offers the possibility of imparting robotic systems with s...

20 Ankur Handa, et al. ∙

∙ 08/20/2019

Efficiently Improving and Quantifying Robot Accuracy In Situ

The advancement of simulation-assisted robot programming, automation of ...

0 Karl Van Wyk, et al. ∙

∙ 06/27/2018

Slip Detection: Analysis and Calibration of Univariate Tactile Signals

The existence of tactile afferents sensitive to slip-related mechanical ...

0 Karl Van Wyk, et al. ∙

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