277 citations · 726 across the 23 of their papers we have counts for
6 papers · 1 filter
Visual Identification of Articulated Object Parts
Vicky Zeng, Tabitha Edith Lee, Jacky Liang +1
As autonomous robots interact and navigate around real-world environments such as homes, it is useful to reliably identify and manipulate articulated objects, such as doors and cab…
Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation
Mohit Sharma, Jacky Liang, Jialiang Zhao +2
Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e.g., sliding an object to a goal pose while maintaining contact with a table. Individual s…
A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy
Kevin Zhang, Mohit Sharma, Jacky Liang +1
We designed a modular robotic control stack that provides a customizable and accessible interface to the Franka Emika Panda Research robot. This framework abstracts high-level robo…
Contact Localization for Robot Arms in Motion without Torque Sensing
Jacky Liang, Oliver Kroemer
Detecting and localizing contacts is essential for robot manipulators to perform contact-rich tasks in unstructured environments. While robot skins can localize contacts on the sur…
Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap
Jacky Liang, Saumya Saxena, Oliver Kroemer
Training robotic policies in simulation suffers from the sim-to-real gap, as simulated dynamics can be different from real-world dynamics. Past works tackled this problem through d…
In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation
Jacky Liang, Ankur Handa, Karl Van Wyk +3
Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored…