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07/01/2023
Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration
We present a hierarchical planning framework for dexterous robotic manip...
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09/29/2022
Dynamic Inference on Graphs using Structured Transition Models
Enabling robots to perform complex dynamic tasks such as picking up an o...
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09/28/2022
Focused Adaptation of Dynamics Models for Deformable Object Manipulation
In order to efficiently learn a dynamics model for a task in a new envir...
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09/27/2022
Efficiently Learning Recoveries from Failures Under Partial Observability
Operating under real world conditions is challenging due to the possibil...
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07/22/2022
Learning to Singulate Layers of Cloth using Tactile Feedback
Robotic manipulation of cloth has applications ranging from fabrics manu...
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07/02/2022
DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education
This paper presents the DeltaZ robot, a centimeter-scale, low-cost, delt...
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06/25/2022
Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation
Robots need to manipulate objects in constrained environments like shelv...
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06/11/2022
Learning Model Preconditions for Planning with Multiple Models
Different models can provide differing levels of fidelity when a robot i...
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06/09/2022
Linear Delta Arrays for Compliant Dexterous Distributed Manipulation
This paper presents a new type of distributed dexterous manipulator: del...
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03/14/2022
Synergistic Scheduling of Learning and Allocation of Tasks in Human-Robot Teams
We consider the problem of completing a set of n tasks with a human-robo...
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02/12/2022
Learning by Doing: Controlling a Dynamical System using Causality, Control, and Reinforcement Learning
Questions in causality, control, and reinforcement learning go beyond th...
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09/17/2021
Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation
Lifelong-learning robots need to be able to acquire new skills and plan ...
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07/03/2021
Carnegie Mellon Team Tartan: Mission-level Robustness with Rapidly Deployed Autonomous Aerial Vehicles in the MBZIRC 2020
For robotics systems to be used in high risk, real-world situations, the...
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04/24/2021
Adaptive Sampling: Algorithmic vs. Human Waypoint Selection
Robots are used for collecting samples from natural environments to crea...
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03/31/2021
Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies
We present CREST, an approach for causal reasoning in simulation to lear...
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03/26/2021
Learning Reactive and Predictive Differentiable Controllers for Switching Linear Dynamical Models
Humans leverage the dynamics of the environment and their own bodies to ...
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03/18/2021
Generalizing Object-Centric Task-Axes Controllers using Keypoints
To perform manipulation tasks in the real world, robots need to operate ...
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01/06/2021
Playing with Food: Learning Food Item Representations through Interactive Exploration
A key challenge in robotic food manipulation is modeling the material pr...
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12/03/2020
Relational Learning for Skill Preconditions
To determine if a skill can be executed in any given environment, a robo...
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12/01/2020
Visual Identification of Articulated Object Parts
As autonomous robots interact and navigate around real-world environment...
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11/09/2020
Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation
Manipulation tasks can often be decomposed into multiple subtasks perfor...
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11/05/2020
Contact Localization for Robot Arms in Motion without Torque Sensing
Detecting and localizing contacts is essential for robot manipulators to...
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11/04/2020
Towards Robotic Assembly by Predicting Robust, Precise and Task-oriented Grasps
Robust task-oriented grasp planning is vital for autonomous robotic prec...
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11/04/2020
A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy
We designed a modular robotic control stack that provides a customizable...
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09/29/2020
Learning Skills to Patch Plans Based on Inaccurate Models
Planners using accurate models can be effective for accomplishing manipu...
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06/02/2020
Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap
Training robotic policies in simulation suffers from the sim-to-real gap...
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05/29/2020
Multi-modal Transfer Learning for Grasping Transparent and Specular Objects
State-of-the-art object grasping methods rely on depth sensing to plan r...
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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...
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11/21/2019
Camera-to-Robot Pose Estimation from a Single Image
We present an approach for estimating the pose of a camera with respect ...
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09/27/2019
Leveraging Multimodal Haptic Sensory Data for Robust Cutting
Cutting is a common form of manipulation when working with divisible obj...
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09/04/2019
Towards Precise Robotic Grasping by Probabilistic Post-grasp Displacement Estimation
Precise robotic grasping is important for many industrial applications, ...
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07/11/2019
Graph-Structured Visual Imitation
We cast visual imitation as a visual correspondence problem. Our robotic...
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07/06/2019
A Review of Robot Learning for Manipulation: Challenges, Representations, and Algorithms
A key challenge in intelligent robotics is creating robots that are capa...
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03/30/2019