20 citations · 52 across the 36 of their papers we have counts for
7 papers · 1 filter
Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control
Devesh K. Jha, Siddarth Jain, Diego Romeres +2
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices,…
Active Exploration for Robotic Manipulation
Tim Schneider, Boris Belousov, Georgia Chalvatzaki +3
Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation i…
Constrained Dynamic Movement Primitives for Safe Learning of Motor Skills
Seiji Shaw, Devesh K. Jha, Arvind Raghunathan +4
Dynamic movement primitives are widely used for learning skills which can be demonstrated to a robot by a skilled human or controller. While their generalization capabilities and s…
Design of Adaptive Compliance Controllers for Safe Robotic Assembly
Devesh K. Jha, Diego Romeres, Siddarth Jain +2
Insertion operations are a critical element of most robotic assembly operation, and peg-in-hole (PiH) insertion is one of the most widely studied tasks in the industrial and academ…
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization
Yuki Shirai, Devesh K. Jha, Arvind Raghunathan +1
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to…
PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation
Arvind Raghunathan, Devesh K. Jha, Diego Romeres
PYROBOCOP is a Python-based package for control, optimization and estimation of robotic systems described by nonlinear Differential Algebraic Equations (DAEs). In particular, the p…