23 citations · 101 across the 23 of their papers we have counts for
5 papers · 1 filter
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation
Abhinav Kumar, Thomas Power, Fan Yang +4
Planning contact-rich interactions for multi-finger manipulation is challenging due to the high-dimensionality and hybrid nature of dynamics. Recent advances in data-driven methods…
ResPilot: Teleoperated Finger Gaiting via Gaussian Process Residual Learning
Patrick Naughton, Jinda Cui, Karankumar Patel +1
Dexterous robot hand teleoperation allows for long-range transfer of human manipulation expertise, and could simultaneously provide a way for humans to teach these skills to robots…
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…
Multi-finger Manipulation via Trajectory Optimization with Differentiable Rolling and Geometric Constraints
Fan Yang, Thomas Power, Sergio Aguilera Marinovic +3
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In con…
Hierarchical Deep Learning for Intention Estimation of Teleoperation Manipulation in Assembly Tasks
Mingyu Cai, Karankumar Patel, Soshi Iba +1
In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots a…