10 papers
IMBench: A Benchmark for Intuitive Robotic Manipulation
Anurag Maurya, Sukhvansh Jain, Prajwal Avhad +9
Humans combine reasoning and motor control to solve complex manipulation tasks under diverse constraints. They build an understanding of the physical world that helps them convert…
PPGuide: Steering Diffusion Policies with Performance Predictive Guidance
Zixing Wang, Devesh K. Jha, Ahmed H. Qureshi +1
Diffusion policies have shown to be very efficient at learning complex, multi-modal behaviors for robotic manipulation. However, errors in generated action sequences can compound o…
Find the Fruit: Zero-Shot Sim2Real RL for Occlusion-Aware Plant Manipulation
Nitesh Subedi, Hsin-Jung Yang, Devesh K. Jha +1
Autonomous harvesting in the open presents a complex manipulation problem. In most scenarios, an autonomous system has to deal with significant occlusion and require interaction in…
Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing
Mark Van der Merwe, Kei Ota, Dmitry Berenson +2
Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during in…
Robot Confirmation Generation and Action Planning Using Long-context Q-Former Integrated with Multimodal LLM
Chiori Hori, Yoshiki Masuyama, Siddarth Jain +4
Human-robot collaboration towards a shared goal requires robots to understand human action and interaction with the surrounding environment. This paper focuses on human-robot inter…
Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization
Akshay Jaitly, Devesh K. Jha, Kei Ota +1
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However,…