18 citations · 78 across the 11 of their papers we have counts for
9 papers · 1 filter
Working Backwards: Learning to Place by Picking
Oliver Limoyo, Abhisek Konar, Trevor Ablett +3
We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific, con…
Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensor
Trevor Ablett, Oliver Limoyo, Adam Sigal +5
Contact-rich tasks continue to present many challenges for robotic manipulation. In this work, we leverage a multimodal visuotactile sensor within the framework of imitation learni…
Euclidean Equivariant Models for Generative Graphical Inverse Kinematics
Oliver Limoyo, Filip Marić, Matthew Giamou +3
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for robotic manipulation. Existing numerical solvers typically produce a singl…
ANSEL Photobot: A Robot Event Photographer with Semantic Intelligence
Dmitriy Rivkin, Gregory Dudek, Nikhil Kakodkar +4
Our work examines the way in which large language models can be used for robotic planning and sampling, specifically the context of automated photographic documentation. Specifical…
Generative Graphical Inverse Kinematics
Oliver Limoyo, Filip Marić, Matthew Giamou +3
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for many robot manipulators. Existing numerical solvers are broadly applicable…
Heteroscedastic Uncertainty for Robust Generative Latent Dynamics
Oliver Limoyo, Bryan Chan, Filip Marić +3
Learning or identifying dynamics from a sequence of high-dimensional observations is a difficult challenge in many domains, including reinforcement learning and control. The proble…
Fast Manipulability Maximization Using Continuous-Time Trajectory Optimization
Filip Marić, Oliver Limoyo, Luka Petrović +3
A significant challenge in manipulation motion planning is to ensure agility in the face of unpredictable changes during task execution. This requires the identification and possib…
Manipulability Maximization Using Continuous-Time Gaussian Processes
Filip Marić, Oliver Limoyo, Luka Petrović +2
A significant challenge in motion planning is to avoid being in or near \emph{singular configurations} (\textit{singularities}), that is, joint configurations that result in the lo…
Self-Calibration of Mobile Manipulator Kinematic and Sensor Extrinsic Parameters Through Contact-Based Interaction
Oliver Limoyo, Trevor Ablett, Filip Marić +2
We present a novel approach for mobile manipulator self-calibration using contact information. Our method, based on point cloud registration, is applied to estimate the extrinsic t…