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cs.RO2025
Transferring Kinesthetic Demonstrations across Diverse Objects for Manipulation Planning
Dibyendu Das, Aditya Patankar, Nilanjan Chakraborty +2
Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving obje…
cs.RO2025
Synthesizing Grasps and Regrasps for Complex Manipulation Tasks
Aditya Patankar, Dasharadhan Mahalingam, Nilanjan Chakraborty
In complex manipulation tasks, e.g., manipulation by pivoting, the motion of the object being manipulated has to satisfy path constraints that can change during the motion. Therefo…