47 citations · 110 across the 10 of their papers we have counts for
14 papers
Learning active tactile perception through belief-space control
Jean-François Tremblay, David Meger, Francois Hogan +1
Robots operating in an open world will encounter novel objects with unknown physical properties, such as mass, friction, or size. These robots will need to sense these properties t…
CARTIER: Cartographic lAnguage Reasoning Targeted at Instruction Execution for Robots
Dmitriy Rivkin, Nikhil Kakodkar, Francois Hogan +2
This work explores the capacity of large language models (LLMs) to address problems at the intersection of spatial planning and natural language interfaces for navigation. We focus…
ANSEL Photobot: A Robot Event Photographer with Semantic Intelligence
Dmitriy Rivkin, Gregory Dudek, Nikhil Kakodkar +4
Our work examines the way in which large language models can be used for robotic planning and sampling, specifically the context of automated photographic documentation. Specifical…
Hypernetworks for Zero-shot Transfer in Reinforcement Learning
Sahand Rezaei-Shoshtari, Charlotte Morissette, Francois Robert Hogan +2
In this paper, hypernetworks are trained to generate behaviors across a range of unseen task conditions, via a novel TD-based training objective and data from a set of near-optimal…
Learning Intuitive Physics with Multimodal Generative Models
Sahand Rezaei-Shoshtari, Francois Robert Hogan, Michael Jenkin +2
Predicting the future interaction of objects when they come into contact with their environment is key for autonomous agents to take intelligent and anticipatory actions. This pape…
Seeing Through your Skin: Recognizing Objects with a Novel Visuotactile Sensor
Francois Robert Hogan, Michael Jenkin, Sahand Rezaei-Shoshtari +3
We introduce a new class of vision-based sensor and associated algorithmic processes that combine visual imaging with high-resolution tactile sending, all in a uniform hardware and…
A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
Anthony Simeonov, Yilun Du, Beomjoon Kim +4
We present a framework for solving long-horizon planning problems involving manipulation of rigid objects that operates directly from a point-cloud observation, i.e. without prior…
Tactile Dexterity: Manipulation Primitives with Tactile Feedback
Francois R. Hogan, Jose Ballester, Siyuan Dong +1
This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation t…
Hybrid Differential Dynamic Programming for Planar Manipulation Primitives
Neel Doshi, Francois R. Hogan, Alberto Rodriguez
We present a hybrid differential dynamic programming (DDP) algorithm for closed-loop execution of manipulation primitives with frictional contact switches. Planning and control of…
A Data-Efficient Approach to Precise and Controlled Pushing
Maria Bauza, Francois R. Hogan, Alberto Rodriguez
Decades of research in control theory have shown that simple controllers, when provided with timely feedback, can control complex systems. Pushing is an example of a complex mechan…
Tactile Regrasp: Grasp Adjustments via Simulated Tactile Transformations
Francois R. Hogan, Maria Bauza, Oleguer Canal +2
This paper presents a novel regrasp control policy that makes use of tactile sensing to plan local grasp adjustments. Our approach determines regrasp actions by virtually searching…
Reactive Planar Manipulation with Convex Hybrid MPC
Francois Robert Hogan, Eudald Romo Grau, Alberto Rodriguez
This paper presents a reactive controller for planar manipulation tasks that leverages machine learning to achieve real-time performance. The approach is based on a Model Predictiv…
Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching
Andy Zeng, Shuran Song, Kuan-Ting Yu +18
This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the s…
Feedback Control of the Pusher-Slider System: A Story of Hybrid and Underactuated Contact Dynamics
Francois Robert Hogan, Alberto Rodriguez
This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of th…