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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
Optimal Shelf Arrangement to Minimize Robot Retrieval Time
Shelves are commonly used to store objects in homes, stores, and warehou...
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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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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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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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11/02/2021
Simulation of Parallel-Jaw Grasping using Incremental Potential Contact Models
Soft compliant jaw tips are almost universally used with parallel-jaw ro...
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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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07/13/2021
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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05/05/2021
A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration
We present a novel robot end-effector for gripping and haptic exploratio...
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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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11/21/2020
Object Rearrangement Using Learned Implicit Collision Functions
Robotic object rearrangement combines the skills of picking and placing ...
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11/11/2020
Accelerating Grasp Exploration by Leveraging Learned Priors
The ability of robots to grasp novel objects has industry applications i...
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11/11/2020
Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects
There has been significant recent work on data-driven algorithms for lea...
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07/20/2020
Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking
A new generation of automated bin picking systems using deep learning is...
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04/20/2020
X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions
For applications in e-commerce, warehouses, healthcare, and home service...
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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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09/24/2019
Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects
Robot grasping of deformable hollow objects such as plastic bottles and ...
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03/04/2019
Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter
When operating in unstructured environments such as warehouses, homes, a...
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09/16/2018