research
∙
07/14/2023
Non-Parametric Self-Identification and Model Predictive Control of Dexterous In-Hand Manipulation
Building hand-object models for dexterous in-hand manipulation remains a...
share
research
∙
02/08/2023
Kinodynamic Rapidly-exploring Random Forest for Rearrangement-Based Nonprehensile Manipulation
Rearrangement-based nonprehensile manipulation still remains as a challe...
research
∙
02/07/2023
Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interaction
We introduce a novel robotic system for improving unseen object instance...
research
∙
08/03/2022
Rearrangement-Based Manipulation via Kinodynamic Planning and Dynamic Planning Horizons
Robot manipulation in cluttered environments often requires complex and ...
research
∙
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...
research
∙
01/09/2020
Benchmarking In-Hand Manipulation
The purpose of this benchmark is to evaluate the planning and control as...
research
∙
12/15/2019
Multi-Object Rearrangement with Monte Carlo Tree Search:A Case Study on Planar Nonprehensile Sorting
In this work, we address a planar non-prehensile sorting task. Here, a r...
research
∙
07/04/2019
Object Placement Planning and Optimization for Robot Manipulators
We address the problem of motion planning for a robotic manipulator with...
research
∙
04/25/2019
Dual-Arm In-Hand Manipulation and Regrasping Using Dexterous Manipulation Graphs
This work focuses on the problem of in-hand manipulation and regrasping ...
research
∙
01/11/2019
Learning Manipulation States and Actions for Efficient Non-prehensile Rearrangement Planning
This paper addresses non-prehensile rearrangement planning problems wher...
research
∙
09/12/2018
Reinforcement Learning in Topology-based Representation for Human Body Movement with Whole Arm Manipulation
Moving a human body or a large and bulky object can require the strength...
research
∙
03/15/2018
Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learning
Rearranging objects on a tabletop surface by means of nonprehensile mani...
research
∙
03/01/2018