3 papers
cs.RO2025
Integrating Model-based Control and RL for Sim2Real Transfer of Tight Insertion Policies
Isidoros Marougkas, Dhruv Metha Ramesh, Joe H. Doerr +4
Object insertion under tight tolerances () is an important but challenging assembly task as even small errors can result in undesirable contacts. Recent effo…
cs.RO2025
PROBE: Proprioceptive Obstacle Detection and Estimation while Navigating in Clutter
Dhruv Metha Ramesh, Aravind Sivaramakrishnan, Shreesh Keskar +3
In critical applications, including search-and-rescue in degraded environments, blockages can be prevalent and prevent the effective deployment of certain sensing modalities, parti…
cs.RO2025
Visuotactile-Based Learning for Insertion with Compliant Hands
Osher Azulay, Dhruv Metha Ramesh, Nimrod Curtis +1
Compared to rigid hands, underactuated compliant hands offer greater adaptability to object shapes, provide stable grasps, and are often more cost-effective. However, they introduc…