8 citations · 20 across the 19 of their papers we have counts for
4 papers · 1 filter
Poke and Strike: Learning Task-Informed Exploration Policies
Marina Y. Aoyama, Joao Moura, Juan Del Aguila Ferrandis +1
In many dynamic robotic tasks, such as striking pucks into a goal outside the reachable workspace, the robot must first identify the relevant physical properties of the object for…
Scaling Whole-body Multi-contact Manipulation with Contact Optimization
Victor Levé, João Moura, Sachiya Fujita +3
Daily tasks require us to use our whole body to manipulate objects, for instance when our hands are unavailable. We consider the issue of providing humanoid robots with the ability…
Fast Flow-based Visuomotor Policies via Conditional Optimal Transport Couplings
Andreas Sochopoulos, Nikolay Malkin, Nikolaos Tsagkas +3
Diffusion and flow matching policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions. Ho…
ContactFusion: Stochastic Poisson Surface Maps from Visual and Contact Sensing
Aditya Kamireddypalli, Joao Moura, Russell Buchanan +3
Robust and precise robotic assembly entails insertion of constituent components. Insertion success is hindered when noise in scene understanding exceeds tolerance limits, especiall…