144 citations · 484 across the 36 of their papers we have counts for
8 papers · 2 filters
LEGS: Learning Efficient Grasp Sets for Exploratory Grasping
Letian Fu, Michael Danielczuk, Ashwin Balakrishna +4
While deep learning has enabled significant progress in designing general purpose robot grasping systems, there remain objects which still pose challenges for these systems. Recent…
ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning
Ryan Hoque, Ashwin Balakrishna, Ellen Novoseller +3
Effective robot learning often requires online human feedback and interventions that can cost significant human time, giving rise to the central challenge in interactive imitation…
Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities
Shivin Devgon, Jeffrey Ichnowski, Michael Danielczuk +6
In industrial part kitting, 3D objects are inserted into cavities for transportation or subsequent assembly. Kitting is a critical step as it can decrease downstream processing and…
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan +7
Robot manipulation for untangling 1D deformable structures such as ropes, cables, and wires is challenging due to their infinite dimensional configuration space, complex dynamics,…
Disentangling Dense Multi-Cable Knots
Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan +7
Disentangling two or more cables requires many steps to remove crossings between and within cables. We formalize the problem of disentangling multiple cables and present an algorit…
Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms
Shivin Devgon, Jeffrey Ichnowski, Ashwin Balakrishna +2
Orienting objects is a critical component in the automation of many packing and assembly tasks. We present an algorithm to orient novel objects given a depth image of the object in…
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning
Ryan Hoque, Ashwin Balakrishna, Carl Putterman +6
Corrective interventions while a robot is learning to automate a task provide an intuitive method for a human supervisor to assist the robot and convey information about desired be…
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,…