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05/23/2023
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback
Reasoning over the interplay between object deformation and force transm...
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05/23/2023
Precise Object Sliding with Top Contact via Asymmetric Dual Limit Surfaces
In this paper, we discuss the mechanics and planning algorithms to slide...
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05/23/2023
MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile Feedback
In this paper, we propose a method for estimating in-hand object poses u...
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05/14/2023
CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data
This paper proposes a novel method for estimating the set of plausible p...
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10/19/2022
Lumped-Parameter Modeling and Control for Robotic High-Viscosity Fluid Dispensing in Additive Manufacturing
In this paper, we present a novel flow model and compensation strategy f...
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10/07/2022
Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing
Many manipulation tasks require the robot to control the contact between...
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10/07/2022
VIRDO++: Real-World, Visuo-tactile Dynamics and Perception of Deformable Objects
Deformable objects manipulation can benefit from representations that se...
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09/30/2022
Visuo-Tactile Transformers for Manipulation
Learning representations in the joint domain of vision and touch can imp...
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09/27/2022
Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control
Collocated tactile sensing is a fundamental enabling technology for dext...
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06/02/2022
Simultaneous Contact Location and Object Pose Estimation Using Proprioceptive Tactile Feedback
Joint estimation of grasped object pose and externally made contact on t...
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02/02/2022
VIRDO: Visio-tactile Implicit Representations of Deformable Objects
Deformable object manipulation requires computationally efficient repres...
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01/25/2022
Soft Tracking Using Contacts for Cluttered Objects to Perform Blind Object Retrieval
Retrieving an object from cluttered spaces suchas cupboards, refrigerato...
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10/23/2020
TAMPC: A Controller for Escaping Traps in Novel Environments
We propose an approach to online model adaptation and control in the cha...
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09/08/2020
Long-Horizon Prediction and Uncertainty Propagation with Residual Point Contact Learners
The ability to simulate and predict the outcome of contacts is paramount...
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04/13/2019
Combining Physical Simulators and Object-Based Networks for Control
Physics engines play an important role in robot planning and control; ho...
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08/09/2018
Augmenting Physical Simulators with Stochastic Neural Networks: Case Study of Planar Pushing and Bouncing
An efficient, generalizable physical simulator with universal uncertaint...
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10/16/2017
Learning Data-Efficient Rigid-Body Contact Models: Case Study of Planar Impact
In this paper we demonstrate the limitations of common rigid-body contac...
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10/13/2017
Fundamental Limitations in Performance and Interpretability of Common Planar Rigid-Body Contact Models
The ability to reason about and predict the outcome of contacts is param...
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10/03/2017