papers
Publications (3)
cs.RO2025
Supermarket-6DoF: A Real-World Grasping Dataset and Grasp Pose Representation Analysis
Jason Toskov, Akansel Cosgun
We present Supermarket-6DoF, a real-world dataset of 1500 grasp attempts across 20 supermarket objects with publicly available 3D models. Unlike most existing grasping datasets tha…
cs.RO2022
In-Hand Gravitational Pivoting Using Tactile Sensing
Jason Toskov, Rhys Newbury, Mustafa Mukadam +2
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To ac…
cs.CV2026
Multimodality as Supervision: Self-Supervised Specialization to the Test Environment via Multimodality
Kunal Pratap Singh, Ali Garjani, Rishubh Singh +6
The paper introduces Test-Space Training, a self‑supervised approach that collects multimodal sensor data directly in a target test environment and uses cross‑modal learning to pre…
#self-supervised learning#multimodal learning#cross-modal prediction#test-time specialization