9 citations · 16 across the 8 of their papers we have counts for
8 papers
Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening
Vincent Schorp, Will Panitch, Kaushik Shivakumar +6
Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread,…
HANDLOOM: Learned Tracing of One-Dimensional Objects for Inspection and Manipulation
Vainavi Viswanath, Kaushik Shivakumar, Jainil Ajmera +6
Tracing - estimating the spatial state of - long deformable linear objects such as cables, threads, hoses, or ropes, is useful for a broad range of tasks in homes, retail, factorie…
Semantic Mechanical Search with Large Vision and Language Models
Satvik Sharma, Huang Huang, Kaushik Shivakumar +4
Moving objects to find a fully-occluded target object, known as mechanical search, is a challenging problem in robotics. As objects are often organized semantically, we conjecture…
SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception
Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu +6
Cables are commonplace in homes, hospitals, and industrial warehouses and are prone to tangling. This paper extends prior work on autonomously untangling long cables by introducing…
DEFT: Diverse Ensembles for Fast Transfer in Reinforcement Learning
Simeon Adebola, Satvik Sharma, Kaushik Shivakumar
Deep ensembles have been shown to extend the positive effect seen in typical ensemble learning to neural networks and to reinforcement learning (RL). However, there is still much t…
Autonomously Untangling Long Cables
Vainavi Viswanath, Kaushik Shivakumar, Justin Kerr +7
Cables are ubiquitous in many settings and it is often useful to untangle them. However, cables are prone to self-occlusions and knots, making them difficult to perceive and manipu…
Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research
Ryan Hoque, Kaushik Shivakumar, Shrey Aeron +7
Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud r…
CT organ segmentation using GPU data augmentation, unsupervised labels and IOU loss
Blaine Rister, Darvin Yi, Kaushik Shivakumar +2
Fully-convolutional neural networks have achieved superior performance in a variety of image segmentation tasks. However, their training requires laborious manual annotation of lar…