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08/15/2023
Hyper-Drive: Visible-Short Wave Infrared Hyperspectral Imaging Datasets for Robots in Unstructured Environments
Hyperspectral sensors have enjoyed widespread use in the realm of remote...
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07/22/2023
A Vision for Cleaner Rivers: Harnessing Snapshot Hyperspectral Imaging to Detect Macro-Plastic Litter
Plastic waste entering the riverine harms local ecosystems leading to ne...
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03/23/2023
Mobile MoCap: Retroreflector Localization On-The-Go
Motion capture (MoCap) through tracking retroreflectors obtains high pre...
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03/08/2023
Team Northeastern's Approach to ANA XPRIZE Avatar Final Testing: A Holistic Approach to Telepresence and Lessons Learned
This paper reports on Team Northeastern's Avatar system for telepresence...
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10/18/2022
Contact-Implicit Planning and Control for Non-Prehensile Manipulation Using State-Triggered Constraints
We present a contact-implicit planning approach that can generate contac...
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10/10/2022
SLURP! Spectroscopy of Liquids Using Robot Pre-Touch Sensing
Liquids and granular media are pervasive throughout human environments. ...
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09/18/2022
StereoVoxelNet: Real-Time Obstacle Detection Based on Occupancy Voxels from a Stereo Camera Using Deep Neural Networks
Obstacle detection is a safety-critical problem in robot navigation, whe...
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08/17/2022
Deep Reinforcement Learning based Robot Navigation in Dynamic Environments using Occupancy Values of Motion Primitives
This paper presents a Deep Reinforcement Learning based navigation appro...
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07/03/2022
Pregrasp Object Material Classification by a Novel Gripper Design with Integrated Spectroscopy
Robots benefit from being able to classify objects they interact with or...
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03/21/2022
Tactile Pose Estimation and Policy Learning for Unknown Object Manipulation
Object pose estimation methods allow finding locations of objects in uns...
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05/17/2021
Reactive Navigation Framework for Mobile Robots by Heuristically Evaluated Pre-sampled Trajectories
This paper describes and analyzes a reactive navigation framework for mo...
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04/26/2021
End-to-end grasping policies for human-in-the-loop robots via deep reinforcement learning
State-of-the-art human-in-the-loop robot grasping is hugely suffered by ...
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04/08/2021
Multimodal Fusion of EMG and Vision for Human Grasp Intent Inference in Prosthetic Hand Control
For lower arm amputees, robotic prosthetic hands offer the promise to re...
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03/08/2021
From Hand-Perspective Visual Information to Grasp Type Probabilities: Deep Learning via Ranking Labels
Limb deficiency severely affects the daily lives of amputees and drives ...
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03/08/2021
HANDS: A Multimodal Dataset for Modeling Towards Human Grasp Intent Inference in Prosthetic Hands
Upper limb and hand functionality is critical to many activities of dail...
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02/09/2021
Affordance-Based Mobile Robot Navigation Among Movable Obstacles
Avoiding obstacles in the perceived world has been the classical approac...
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11/11/2020
Learning Bayes Filter Models for Tactile Localization
Localizing and tracking the pose of robotic grippers are necessary skill...
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07/16/2020
Model-Based Manipulation of Linear Flexible Objects with Visual Curvature Feedback
Manipulation of deformable objects is a desired skill in making robots u...
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06/11/2020
Tuning-Free Contact-Implicit Trajectory Optimization
We present a contact-implicit trajectory optimization framework that can...
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02/06/2020
Sim2Real2Sim: Bridging the Gap Between Simulation and Real-World in Flexible Object Manipulation
This paper addresses a new strategy called Simulation-to-Real-to-Simulat...
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01/24/2020
A 3D Reactive Navigation Algorithm for Mobile Robots by Using Tentacle-Based Sampling
This paper introduces a reactive navigation framework for mobile robots ...
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04/11/2019
Autonomous Robot Navigation with Rich Information Mapping in Nuclear Storage Environments
This paper presents our approach to develop a method for an unmanned gro...
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11/23/2018
A Blended Human-Robot Shared Control Framework to Handle Drift and Latency
Maximizing the utility of human-robot teams in disaster response and sea...
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10/24/2018
Contact-Implicit Trajectory Optimization Based on a Variable Smooth Contact Model and Successive Convexification
In this paper, we propose a contact-implicit trajectory optimization (CI...
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07/12/2018
Integrating Risk in Humanoid Robot Control for Applications in the Nuclear Industry
This paper discuss the integration of risk into a robot control framewor...
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07/11/2018
Using Contact to Increase Robot Performance for Glovebox D&D Tasks
Glovebox decommissioning tasks usually require manipulating relatively h...
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06/04/2018