59 citations · 114 across the 6 of their papers we have counts for
3 papers · 1 filter
Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraints
Yixuan Wang, Dale McConachie, Dmitry Berenson
In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a d…
Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces
Dale McConachie, Thomas Power, Peter Mitrano +1
When the dynamics of a system are difficult to model and/or time-consuming to evaluate, such as in deformable object manipulation tasks, motion planning algorithms struggle to find…
Manipulating Deformable Objects by Interleaving Prediction, Planning, and Control
Dale McConachie, Andrew Dobson, Mengyao Ruan +1
We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or si…