7 citations · 28 across the 8 of their papers we have counts for
6 papers · 1 filter
A Probabilistic Model for Planar Sliding of Objects with Unknown Material Properties: Identification and Robust Planning
Changkyu Song, Abdeslam Boularias
This paper introduces a new technique for learning probabilistic models of mass and friction distributions of unknown objects, and performing robust sliding actions by using the le…
Learning to Slide Unknown Objects with Differentiable Physics Simulations
Changkyu Song, Abdeslam Boularias
We propose a new technique for pushing an unknown object from an initial configuration to a goal configuration with stability constraints. The proposed method leverages recent prog…
Identifying Mechanical Models through Differentiable Simulations
Changkyu Song, Abdeslam Boularias
This paper proposes a new method for manipulating unknown objects through a sequence of non-prehensile actions that displace an object from its initial configuration to a given goa…
Object Rearrangement with Nested Nonprehensile Manipulation Actions
Changkyu Song, Abdeslam Boularias
This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given g…
Inferring 3D Shapes of Unknown Rigid Objects in Clutter through Inverse Physics Reasoning
Changkyu Song, Abdeslam Boularias
We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles…
Tight Robot Packing in the Real World: A Complete Manipulation Pipeline with Robust Primitives
Rahul Shome, Wei N. Tang, Changkyu Song +5
Many order fulfillment applications in logistics, such as packing, involve picking objects from unstructured piles before tightly arranging them in bins or shipping containers. Des…