39 citations · 93 across the 5 of their papers we have counts for
5 papers
Neural Grasp Distance Fields for Robot Manipulation
Thomas Weng, David Held, Franziska Meier +1
We formulate grasp learning as a neural field and present Neural Grasp Distance Fields (NGDF). Here, the input is a 6D pose of a robot end effector and output is a distance to a co…
Learning to Singulate Layers of Cloth using Tactile Feedback
Sashank Tirumala, Thomas Weng, Daniel Seita +3
Robotic manipulation of cloth has applications ranging from fabrics manufacturing to handling blankets and laundry. Cloth manipulation is challenging for robots largely due to thei…
FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy
Thomas Weng, Sujay Bajracharya, Yufei Wang +2
We address the problem of goal-directed cloth manipulation, a challenging task due to the deformability of cloth. Our insight is that optical flow, a technique normally used for mo…
Cloth Region Segmentation for Robust Grasp Selection
Jianing Qian, Thomas Weng, Luxin Zhang +2
Cloth detection and manipulation is a common task in domestic and industrial settings, yet such tasks remain a challenge for robots due to cloth deformability. Furthermore, in many…
Multi-modal Transfer Learning for Grasping Transparent and Specular Objects
Thomas Weng, Amith Pallankize, Yimin Tang +2
State-of-the-art object grasping methods rely on depth sensing to plan robust grasps, but commercially available depth sensors fail to detect transparent and specular objects. To i…