20 citations · 51 across the 6 of their papers we have counts for
6 papers
Hybrid Learning- and Model-Based Planning and Control of In-Hand Manipulation
Rana Soltani Zarrin, Katsu Yamane, Rianna Jitosho
This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic h…
VisuoSpatial Foresight for Physical Sequential Fabric Manipulation
Ryan Hoque, Daniel Seita, Ashwin Balakrishna +6
Robotic fabric manipulation has applications in home robotics, textiles, senior care and surgery. Existing fabric manipulation techniques, however, are designed for specific tasks,…
Learning Whole-Body Human-Robot Haptic Interaction in Social Contexts
Joseph Campbell, Katsu Yamane
This paper presents a learning-from-demonstration (LfD) framework for teaching human-robot social interactions that involve whole-body haptic interaction, i.e. direct human-robot c…
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan +10
Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior wo…
VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation
Ryan Hoque, Daniel Seita, Ashwin Balakrishna +6
Robotic fabric manipulation has applications in home robotics, textiles, senior care and surgery. Existing fabric manipulation techniques, however, are designed for specific tasks,…
Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor
Daniel Seita, Aditya Ganapathi, Ryan Hoque +11
Sequential pulling policies to flatten and smooth fabrics have applications from surgery to manufacturing to home tasks such as bed making and folding clothes. Due to the complexit…