112 citations · 211 across the 10 of their papers we have counts for
5 papers · 1 filter
Quantification of Robotic Surgeries with Vision-Based Deep Learning
Dani Kiyasseh, Runzhuo Ma, Taseen F. Haque +4
Surgery is a high-stakes domain where surgeons must navigate critical anatomical structures and actively avoid potential complications while achieving the main task at hand. Such s…
OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation
Josiah Wong, Viktor Makoviychuk, Anima Anandkumar +1
Learning performant robot manipulation policies can be challenging due to high-dimensional continuous actions and complex physics-based dynamics. This can be alleviated through int…
Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects
Xinlei Pan, Animesh Garg, Animashree Anandkumar +1
Evolution in nature illustrates that the creatures' biological structure and their sensorimotor skills adapt to the environmental changes for survival. Likewise, the ability to mor…
Fast Uncertainty Quantification for Deep Object Pose Estimation
Guanya Shi, Yifeng Zhu, Jonathan Tremblay +4
Deep learning-based object pose estimators are often unreliable and overconfident especially when the input image is outside the training domain, for instance, with sim2real transf…
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
Xingye Da, Zhaoming Xie, David Hoeller +5
We present a hierarchical framework that combines model-based control and reinforcement learning (RL) to synthesize robust controllers for a quadruped (the Unitree Laikago). The sy…