4 papers · 1 filter
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…
Amortising Trajectory Optimisation for Residual MPC via Implicit Contact Differentiation
Daniel Layeghi, Thomas Corbères, Calum Arnott +4
Differentiable simulation can accelerate contact-rich trajectory optimisation by exposing local sensitivities of task outcomes to controls. Existing approaches either use finite di…
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…
LiDAR guided Small obstacle Segmentation
Aasheesh Singh, Aditya Kamireddypalli, Vineet Gandhi +1
Detecting small obstacles on the road is critical for autonomous driving. In this paper, we present a method to reliably detect such obstacles through a multi-modal framework of sp…