2 papers
cs.RO2021
Distributional Depth-Based Estimation of Object Articulation Models
Ajinkya Jain, Stephen Giguere, Rudolf Lioutikov +1
We propose a method that efficiently learns distributions over articulation model parameters directly from depth images without the need to know articulation model categories a pri…
cs.RO2019
Learning Hybrid Object Kinematics for Efficient Hierarchical Planning Under Uncertainty
Ajinkya Jain, Scott Niekum
Sudden changes in the dynamics of robotic tasks, such as contact with an object or the latching of a door, are often viewed as inconvenient discontinuities that make manipulation d…