23 citations · 101 across the 23 of their papers we have counts for
4 papers · 1 filter
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…
Diffusing Trajectory Optimization Problems for Recovery During Multi-Finger Manipulation
Abhinav Kumar, Fan Yang, Sergio Aguilera Marinovic +3
Multi-fingered hands are emerging as powerful platforms for performing fine manipulation tasks, including tool use. However, environmental perturbations or execution errors can imp…
CADRE: Dynamic Catching via Implicit Contact Descriptors and Task-Appropriate Recovery Affordances
Fan Yang, Zixuan Huang, Abhinav Kumar +4
Real-world dexterous manipulation often encounters unexpected errors and disturbances, which can lead to catastrophic failures, such as dropping the manipulated object. To address…
GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty
Sirui Chen, Sergio Aguilera Marinovic, Soshi Iba +1
Sense of touch that allows robots to detect contact and measure interaction forces enables them to perform challenging tasks such as grasping fragile objects or using tools. Tactil…