6 citations · 16 across the 7 of their papers we have counts for
7 papers · 1 filter
A passive universal grasping mechanism based on an everting shell
Mythra V. S. Balakuntala, Safvan Palathingal, G. K. Ananthasuresh
A passive monolithic compliant grasping mechanism that works based on the eversion of an elastically deformable bistable shell is conceptualized. It comprises grasping arms made of…
Coaching a Robotic Sonographer: Learning Robotic Ultrasound with Sparse Expert's Feedback
Deepak Raina, Mythra V. Balakuntala, Byung Wook Kim +2
Ultrasound is widely employed for clinical intervention and diagnosis, due to its advantages of offering non-invasive, radiation-free, and real-time imaging. However, the accessibi…
Enhancing Safety of Students with Mobile Air Filtration during School Reopening from COVID-19
Haoguang Yang, Mythra V. Balakuntala, Abigayle E. Moser +7
The paper discusses how robots enable occupant-safe continuous protection for students when schools reopen. Conventionally, fixed air filters are not used as a key pandemic prevent…
Learning Multimodal Contact-Rich Skills from Demonstrations Without Reward Engineering
Mythra V. Balakuntala, Upinder Kaur, Xin Ma +2
Everyday contact-rich tasks, such as peeling, cleaning, and writing, demand multimodal perception for effective and precise task execution. However, these present a novel challenge…
Extending Policy from One-Shot Learning through Coaching
Mythra V. Balakuntala, Vishnunandan L. N. Venkatesh, Jyothsna Padmakumar Bindu +2
Humans generally teach their fellow collaborators to perform tasks through a small number of demonstrations. The learnt task is corrected or extended to meet specific task goals by…
Self-Evaluation in One-Shot Learning from Demonstration of Contact-Intensive Tasks
Mythra V. Balakuntala, L. N. Vishnunandan Venkatesh, Jyothsna Padmakumar Bindu +1
Humans naturally "program" a fellow collaborator to perform a task by demonstrating the task few times. It is intuitive, therefore, for a human to program a collaborative robot by…
DESK: A Robotic Activity Dataset for Dexterous Surgical Skills Transfer to Medical Robots
Naveen Madapana, Md Masudur Rahman, Natalia Sanchez-Tamayo +10
Datasets are an essential component for training effective machine learning models. In particular, surgical robotic datasets have been key to many advances in semi-autonomous surge…