16 citations · 36 across the 16 of their papers we have counts for
23 papers · 1 filter
STEP: State-Aware Task Estimation and Planning with Multi-Modal LLMs for Human-Robot Collaboration
Maitrey Gramopadhye, Prakash Baskaran, Xiao Liu +2
Effective human-robot collaboration in industrial settings requires robots to understand human intentions and assist with task planning, reducing workload. Recent works have explor…
PLUME: Probabilistic Latent Unified World Modeling and Parameter Estimation for Multi-Finger Manipulation
Abhinav Kumar, Soshi Iba, Rana Soltani Zarrin +1
Dexterous manipulation with multi-finger hands can be sensitive to physical parameters such as object shape, pose, and friction coefficients. While simulation enables large-scale d…
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…
SUBTA: A Framework for Supported User-Guided Bimanual Teleoperation in Structured Assembly
Xiao Liu, Prakash Baskaran, Songpo Li +4
In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive support. Effective robotic assistance requires accurately inferring human intent…
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…
AVO: Amortized Value Optimization for Contact Mode Switching in Multi-Finger Manipulation
Adam Hung, Fan Yang, Abhinav Kumar +4
Dexterous manipulation tasks often require switching between different contact modes, such as rolling, sliding, sticking, or non-contact contact modes. When formulating dexterous m…