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05/17/2023
Large-Scale Package Manipulation via Learned Metrics of Pick Success
Automating warehouse operations can reduce logistics overhead costs, ult...
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04/09/2023
Self-Supervised Learning of Object Segmentation from Unlabeled RGB-D Videos
This work proposes a self-supervised learning system for segmenting rigi...
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09/13/2022
Real2Sim2Real Transfer for Control of Cable-driven Robots via a Differentiable Physics Engine
Tensegrity robots, composed of rigid rods and flexible cables, exhibit h...
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05/29/2022
6N-DoF Pose Tracking for Tensegrity Robots
Tensegrity robots, which are composed of rigid compressive elements (rod...
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03/08/2022
Learning Sensorimotor Primitives of Sequential Manipulation Tasks from Visual Demonstrations
This work aims to learn how to perform complex robot manipulation tasks ...
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02/28/2022
A Recurrent Differentiable Engine for Modeling Tensegrity Robots Trainable with Low-Frequency Data
Tensegrity robots, composed of rigid rods and flexible cables, are diffi...
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01/30/2022
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration
Promising results have been achieved recently in category-level manipula...
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01/20/2022
Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning
Constraining contacts to remain fixed on an object during manipulation l...
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09/19/2021
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation
Task-relevant grasping is critical for industrial assembly, where downst...
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08/01/2021
BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models
Tracking the 6D pose of objects in video sequences is important for robo...
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06/26/2021
Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks
Highly constrained manipulation tasks continue to be challenging for aut...
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05/29/2021
Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains
Tracking the 6D pose of objects in video sequences is important for robo...
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12/07/2020
Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop
This report presents the debates, posters, and discussions of the Sim2Re...
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11/10/2020
An End-to-End Differentiable but Explainable Physics Engine for Tensegrity Robots: Modeling and Control
This work proposes an end-to-end differentiable physics engine for tense...
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11/09/2020
Spring-Rod System Identification via Differentiable Physics Engine
We propose a novel differentiable physics engine for system identificati...
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06/28/2020
Task-driven Perception and Manipulation for Constrained Placement of Unknown Objects
Recent progress in robotic manipulation has dealt with the case of previ...
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04/28/2020
A First Principles Approach for Data-Efficient System Identification of Spring-Rod Systems via Differentiable Physics Engines
We propose a novel differentiable physics engine for system identificati...
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10/11/2019
Scene-level Pose Estimation for Multiple Instances of Densely Packed Objects
This paper introduces key machine learning operations that allow the rea...
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10/29/2018
Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups
Rearranging objects on a planar surface arises in a variety of robotic a...
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10/09/2018
A Summary of the 4th International Workshop on Recovering 6D Object Pose
This document summarizes the 4th International Workshop on Recovering 6D...
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06/25/2018
Physics-based Scene-level Reasoning for Object Pose Estimation in Clutter
This paper focuses on vision-based pose estimation for multiple rigid ob...
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06/19/2018
Fast, Anytime Motion Planning for Prehensile Manipulation in Clutter
Many methods have been developed for planning the motion of robotic arms...
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05/16/2018
