23 citations · 120 across the 18 of their papers we have counts for
18 papers
Geometrically Plausible Object Pose Refinement using Differentiable Simulation
Anil Zeybek, Rhys Newbury, Snehal Dikhale +3
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimat…
VisuoTactile 6D Pose Estimation of an In-Hand Object using Vision and Tactile Sensor Data
Snehal s. Dikhale, Karankumar Patel, Daksh Dhingra +4
Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's g…
Social Mediation through Robots -- A Scoping Review on Improving Group Interactions through Directed Robot Action using an Extended Group Process Model
Thomas H. Weisswange, Hifza Javed, Manuel Dietrich +2
Group processes refer to the dynamics that occur within a group and are critical for understanding how groups function. With robots being increasingly placed within small groups, i…
HyperTaxel: Hyper-Resolution for Taxel-Based Tactile Signals Through Contrastive Learning
Hongyu Li, Snehal Dikhale, Jinda Cui +2
To achieve dexterity comparable to that of humans, robots must intelligently process tactile sensor data. Taxel-based tactile signals often have low spatial-resolution, with non-st…
ViHOPE: Visuotactile In-Hand Object 6D Pose Estimation with Shape Completion
Hongyu Li, Snehal Dikhale, Soshi Iba +1
In this letter, we introduce ViHOPE, a novel framework for estimating the 6D pose of an in-hand object using visuotactile perception. Our key insight is that the accuracy of the 6D…
"How Did They Come Across?" Lessons Learned from Continuous Affective Ratings
Maria Teresa Parreira, Michael J. Sack, Hifza Javed +2
Social distance, or perception of the other, is recognized as a dynamic dimension of an interaction, but yet to be widely explored or understood. Through CORAE, a novel web-based o…
What Could a Social Mediator Robot Do? Lessons from Real-World Mediation Scenarios
Thomas H. Weisswange, Hifza Javed, Manuel Dietrich +4
The use of social robots as instruments for social mediation has been gaining traction in the field of Human-Robot Interaction (HRI). So far, the design of such robots and their be…
Group Dynamics: Survey of Existing Multimodal Models and Considerations for Social Mediation
Hifza Javed, Nawid Jamali
Social mediator robots facilitate human-human interactions by producing behavior strategies that positively influence how humans interact with each other in social settings. As rob…
Modeling Group Dynamics for Personalized Robot-Mediated Interactions
Hifza Javed, Nawid Jamali
The field of human-human-robot interaction (HHRI) uses social robots to positively influence how humans interact with each other. This objective requires models of human understand…
CORAE: A Tool for Intuitive and Continuous Retrospective Evaluation of Interactions
Michael J. Sack, Maria Teresa Parreira, Jenny Fu +4
This paper introduces CORAE, a novel web-based open-source tool for COntinuous Retrospective Affect Evaluation, designed to capture continuous affect data about interpersonal perce…
Hierarchical Graph Neural Networks for Proprioceptive 6D Pose Estimation of In-hand Objects
Alireza Rezazadeh, Snehal Dikhale, Soshi Iba +1
Robotic manipulation, in particular in-hand object manipulation, often requires an accurate estimate of the object's 6D pose. To improve the accuracy of the estimated pose, state-o…
Deep Tactile Experience: Estimating Tactile Sensor Output from Depth Sensor Data
Karankumar Patel, Soshi Iba, Nawid Jamali
Tactile sensing is inherently contact based. To use tactile data, robots need to make contact with the surface of an object. This is inefficient in applications where an agent need…
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,…
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan +10
Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior wo…
VisuoSpatial Foresight for Multi-Step, Multi-Task 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,…
Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor
Daniel Seita, Aditya Ganapathi, Ryan Hoque +11
Sequential pulling policies to flatten and smooth fabrics have applications from surgery to manufacturing to home tasks such as bed making and folding clothes. Due to the complexit…
Deep Transfer Learning of Pick Points on Fabric for Robot Bed-Making
Daniel Seita, Nawid Jamali, Michael Laskey +6
A fundamental challenge in manipulating fabric for clothes folding and textiles manufacturing is computing "pick points" to effectively modify the state of an uncertain manifold. W…
Controlled Tactile Exploration and Haptic Object Recognition
Massimo Regoli, Nawid Jamali, Giorgio Metta +1
In this paper we propose a novel method for in-hand object recognition. The method is composed of a grasp stabilization controller and two exploratory behaviours to capture the sha…