3 papers
cs.RO2024
Design and Control Co-Optimization for Automated Design Iteration of Dexterous Anthropomorphic Soft Robotic Hands
Pragna Mannam, Xingyu Liu, Ding Zhao +2
We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines ge…
cs.RO2023
DEFT: Dexterous Fine-Tuning for Real-World Hand Policies
Aditya Kannan, Kenneth Shaw, Shikhar Bahl +2
Dexterity is often seen as a cornerstone of complex manipulation. Humans are able to perform a host of skills with their hands, from making food to operating tools. In this paper,…
cs.RO2018
Sensorless Pose Determination using Randomized Action Sequences
Pragna Mannam, Alexander Volkov, Robert Paolini +2
This paper is a study of 2D manipulation without sensing and planning, by exploring the effects of unplanned randomized action sequences on 2D object pose uncertainty. Our approach…