8 citations · 20 across the 19 of their papers we have counts for
4 papers · 1 filter
ContactKernels: Adaptive Proposals using Geometry-COnditioned Wrenches for Contact-Rich Manipulation
Aditya Kamireddypalli, Matías Mattamala, João Moura +3
Contact-rich insertion requires precise geometric alignment despite uncertainty in perception, geometry, and con- trol. When this uncertainty causes unintended contact, the re- sul…
BayesContact: Uncertain Pose Estimation via Visuo-Tactile Proposals and Simulation-based Inference
Aditya Kamireddypalli, Matias Mattamala, Joao Moura +3
Contact-rich manipulation requires pose estimates that are often more accurate than what depth-only sensing provides. Existing methods, relying on vision and contact, employ costly…
Optimal Transport Q-Learning for Flow Policy Steering and Acceleration
Andreas Sochopoulos, Esmeralda S. Whitammer, Nikolaos Tsagkas +3
Diffusion and flow policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions, especially…
Online Estimation and Manipulation of Articulated Objects
Russell Buchanan, Adrian Röfer, João Moura +2
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots…