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cs.RO2024
SuperQ-GRASP: Superquadrics-based Grasp Pose Estimation on Larger Objects for Mobile-Manipulation
Xun Tu, Karthik Desingh
Grasp planning and estimation have been a longstanding research problem in robotics, with two main approaches to find graspable poses on the objects: 1) geometric approach, which r…
cs.RO2024
AugInsert: Learning Robust Visual-Force Policies via Data Augmentation for Object Assembly Tasks
Ryan Diaz, Adam Imdieke, Vivek Veeriah +1
Operating in unstructured environments like households requires robotic policies that are robust to out-of-distribution conditions. Although much work has been done in evaluating r…
cs.RO2024
Talk Through It: End User Directed Manipulation Learning
Carl Winge, Adam Imdieke, Bahaa Aldeeb +2
Training generalist robot agents is an immensely difficult feat due to the requirement to perform a huge range of tasks in many different environments. We propose selectively train…