3 papers
cs.RO2021
A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation
Bernardo Aceituno, Alberto Rodriguez, Shubham Tulsiani +2
Specifying tasks with videos is a powerful technique towards acquiring novel and general robot skills. However, reasoning over mechanics and dexterous interactions can make it chal…
cs.RO2019
Certified Grasping
Bernardo Aceituno-Cabezas, José Ballester, Alberto Rodriguez
This paper studies robustness in planar grasping from a geometric perspective. By treating grasping as a process that shapes the free-space of an object over time, we can define th…
cs.RO2018
A Convex-Combinatorial Model for Planar Caging
Bernardo Aceituno-Cabezas, Hongkai Dai, Alberto Rodriguez
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful gua…