3 papers
cs.RO2025
In-Context Iterative Policy Improvement for Dynamic Manipulation
Mark Van der Merwe, Devesh Jha
Attention-based architectures trained on internet-scale language data have demonstrated state of the art reasoning ability for various language-based tasks, such as logic problems…
cs.RO2025
Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization
Mark Van der Merwe, Miquel Oller, Dmitry Berenson +1
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasin…
cs.RO2023
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback
Mark Van der Merwe, Youngsun Wi, Dmitry Berenson +1
Reasoning over the interplay between object deformation and force transmission through contact is central to the manipulation of compliant objects. In this paper, we propose Neural…