10 citations · 17 across the 10 of their papers we have counts for
10 papers
TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation
Rishabh Madan, Angchen Xie, Samantha Saak +7
Whole-arm manipulation involves direct contact with the environment while the robot completes a task by distributing contact across multiple links as contacts form, slide, and brea…
PrioriTouch: Adapting to User Contact Preferences for Whole-Arm Physical Human-Robot Interaction
Rishabh Madan, Jiawei Lin, Mahika Goel +10
Physical human-robot interaction (pHRI) requires robots to adapt to individual contact preferences, such as where and how much force is applied. Identifying preferences is difficul…
CushSense: Soft, Stretchable, and Comfortable Tactile-Sensing Skin for Physical Human-Robot Interaction
Boxin Xu, Luoyan Zhong, Grace Zhang +4
Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable t…
RABBIT: A Robot-Assisted Bed Bathing System with Multimodal Perception and Integrated Compliance
Rishabh Madan, Skyler Valdez, David Kim +4
This paper introduces RABBIT, a novel robot-assisted bed bathing system designed to address the growing need for assistive technologies in personal hygiene tasks. It combines multi…
SPARCS: Structuring Physically Assistive Robotics for Caregiving with Stakeholders-in-the-loop
Rishabh Madan, Rajat Kumar Jenamani, Vy Thuy Nguyen +4
Existing work in physical robot caregiving is limited in its ability to provide long-term assistance. This is majorly due to (i) lack of well-defined problems, (ii) diversity of ta…
Real Robot Challenge 2021: Cartesian Position Control with Triangle Grasp and Trajectory Interpolation
Rishabh Madan, Harshit Sikchi, Ethan K. Gordon +1
We present our runner-up approach for the Real Robot Challenge 2021. We build upon our previous approach used in Real Robot Challenge 2020. To solve the task of sequential goal-rea…
Real Robot Challenge: A Robotics Competition in the Cloud
Stefan Bauer, Felix Widmaier, Manuel Wüthrich +39
Dexterous manipulation remains an open problem in robotics. To coordinate efforts of the research community towards tackling this problem, we propose a shared benchmark. We designe…
Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation
Niklas Funk, Charles Schaff, Rishabh Madan +10
Dexterous manipulation is a challenging and important problem in robotics. While data-driven methods are a promising approach, current benchmarks require simulation or extensive en…
Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections
Junha Roh, Christoforos Mavrogiannis, Rishabh Madan +2
We focus on decentralized navigation among multiple non-communicating rational agents at \emph{uncontrolled} intersections, i.e., street intersections without traffic signs or sign…
ExTra: Transfer-guided Exploration
Anirban Santara, Rishabh Madan, Balaraman Ravindran +1
In this work we present a novel approach for transfer-guided exploration in reinforcement learning that is inspired by the human tendency to leverage experiences from similar encou…