9 citations · 21 across the 5 of their papers we have counts for
6 papers
FineART: Fine-Grained Annotated Robotic Trajectory Dataset and Vision-Language-Action Model for Bimanual Manipulation
Jade Choghari, Pepijn Kooijmans, Mansi Agarwal +8
Robots operating in real-world environments must often execute complex, multi-step bimanual tasks over long horizons rather than single, isolated actions. Current manipulation data…
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…
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,…
Designing Anthropomorphic Soft Hands through Interaction
Pragna Mannam, Kenneth Shaw, Dominik Bauer +3
Modeling and simulating soft robot hands can aid in design iteration for complex and high degree-of-freedom (DoF) morphologies. This can be further supplemented by iterating on the…
DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education
Sarvesh Patil, Samuel C. Alvares, Pragna Mannam +2
This paper presents the DeltaZ robot, a centimeter-scale, low-cost, delta-style robot that allows for a broad range of capabilities and robust functionalities. Current technologies…
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…