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03/29/2023
Bagging by Learning to Singulate Layers Using Interactive Perception
Many fabric handling and 2D deformable material tasks in homes and indus...
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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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10/31/2022
AutoBag: Learning to Open Plastic Bags and Insert Objects
Thin plastic bags are ubiquitous in retail stores, healthcare, food hand...
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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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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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03/05/2021
Limits of Probabilistic Safety Guarantees when Considering Human Uncertainty
When autonomous robots interact with humans, such as during autonomous d...
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04/11/2020
Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties
Robots operating in real world settings must navigate and maintain safet...
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03/13/2020
Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits
Understanding users' gait preferences of a lower-body exoskeleton requir...
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05/14/2019
Control Regularization for Reduced Variance Reinforcement Learning
Dealing with high variance is a significant challenge in model-free rein...
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03/21/2019