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06/29/2023
KITE: Keypoint-Conditioned Policies for Semantic Manipulation
While natural language offers a convenient shared interface for humans a...
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11/26/2022
Learning Visuo-Haptic Skewering Strategies for Robot-Assisted Feeding
Acquiring food items with a fork poses an immense challenge to a robot-a...
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11/23/2022
In-Mouth Robotic Bite Transfer with Visual and Haptic Sensing
Assistance during eating is essential for those with severe mobility iss...
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04/07/2022
DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects
Research in manipulation of deformable objects is typically conducted on...
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12/09/2021
A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation
Deformable object manipulation remains a challenging task in robotics re...
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06/29/2021
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies
Robot manipulation for untangling 1D deformable structures such as ropes...
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06/04/2021
Disentangling Dense Multi-Cable Knots
Disentangling two or more cables requires many steps to remove crossings...
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11/10/2020
Untangling Dense Knots by Learning Task-Relevant Keypoints
Untangling ropes, wires, and cables is a challenging task for robots due...
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10/09/2020
MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects
We explore learning pixelwise correspondences between images of deformab...
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03/28/2020
Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images
Robotic fabric manipulation is challenging due to the infinite dimension...
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03/03/2020
