4 papers
Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensor
Trevor Ablett, Oliver Limoyo, Adam Sigal +5
Contact-rich tasks continue to present many challenges for robotic manipulation. In this work, we leverage a multimodal visuotactile sensor within the framework of imitation learni…
Generative Graphical Inverse Kinematics
Oliver Limoyo, Filip MariÄ, Matthew Giamou +3
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for many robot manipulators. Existing numerical solvers are broadly applicable…
PhotoBot: Reference-Guided Interactive Photography via Natural Language
Oliver Limoyo, Jimmy Li, Dmitriy Rivkin +2
We introduce PhotoBot, a framework for fully automated photo acquisition based on an interplay between high-level human language guidance and a robot photographer. We propose to co…
Working Backwards: Learning to Place by Picking
Oliver Limoyo, Abhisek Konar, Trevor Ablett +3
We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific, con…