3 papers
cs.RO2023
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,…
cs.RO2022
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…
cs.RO2022
Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies
Satvik Sharma, Ellen Novoseller, Vainavi Viswanath +6
Simulation-to-reality transfer has emerged as a popular and highly successful method to train robotic control policies for a wide variety of tasks. However, it is often challenging…