604 citations · 651 across the 18 of their papers we have counts for
20 papers
Gripper-Aware Automatic Dense Packing of Irregular Objects
Tianhao Qin, Connor McCann, Berk Calli +1
Automatic dense packing is widely desired in warehouse operations but remains a fundamental challenge in robotic manipulation. Existing work on irregular-object packing largely tar…
Utilizing Inpainting for Keypoint Detection for Vision-Based Control of Robotic Manipulators
Sreejani Chatterjee, Venkatesh Mullur, Abhinav Gandhi +1
We present a novel visual servoing framework for controlling a robotic manipulator in configuration space using only natural visual features. To train our data-driven keypoint dete…
3D Shape Control of Extensible Multi-Section Soft Continuum Robots via Visual Servoing
Abhinav Gandhi, Shou-Shan Chiang, Cagdas D. Onal +1
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vi…
Developing Modular Grasping and Manipulation Pipeline Infrastructure to Streamline Performance Benchmarking
Brian Flynn, Kostas Bekris, Berk Calli +4
The robot manipulation ecosystem currently faces issues with integrating open-source components and reproducing results. This limits the ability of the community to benchmark and c…
A Benchmarking Study of Vision-based Robotic Grasping Algorithms
Bharath K Rameshbabu, Sumukh S Balakrishna, Brian Flynn +4
We present a benchmarking study of vision-based robotic grasping algorithms with distinct approaches, and provide a comparative analysis. In particular, we compare two machine-lear…
Image-Based Roadmaps for Vision-Only Planning and Control of Robotic Manipulators
Sreejani Chatterjee, Abhinav Gandhi, Berk Calli +1
This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vi…
Simultaneous Estimation of Manipulation Skill and Hand Grasp Force from Forearm Ultrasound Images
Keshav Bimbraw, Srikar Nekkanti, Daniel B. Tiller +4
Accurate estimation of human hand configuration and the forces they exert is critical for effective teleoperation and skill transfer in robotic manipulation. A deeper understanding…
A Benchmarking Study of Vision-Based Robotic Grasping Algorithms: A Comparative Analysis
Bharath K Rameshbabu, Sumukh S Balakrishna, Brian Flynn +4
We present a benchmarking study of vision-based robotic grasping algorithms and provide a comparative analysis. In particular, we compare two machine-learning-based and two analyti…
Vision-based Oxy-fuel Torch Control for Robotic Metal Cutting
James Akl, Yash Patil, Chinmay Todankar +1
The automation of key processes in metal cutting would substantially benefit many industries such as manufacturing and metal recycling. We present a vision-based control scheme for…
VisDA 2022 Challenge: Domain Adaptation for Industrial Waste Sorting
Dina Bashkirova, Samarth Mishra, Diala Lteif +16
Label-efficient and reliable semantic segmentation is essential for many real-life applications, especially for industrial settings with high visual diversity, such as waste sortin…
Audio-Visual Object Classification for Human-Robot Collaboration
A. Xompero, Y. L. Pang, T. Patten +3
Human-robot collaboration requires the contactless estimation of the physical properties of containers manipulated by a person, for example while pouring content in a cup or moving…
RB2: Robotic Manipulation Benchmarking with a Twist
Sudeep Dasari, Jianren Wang, Joyce Hong +12
Benchmarks offer a scientific way to compare algorithms using objective performance metrics. Good benchmarks have two features: (a) they should be widely useful for many research g…
Household Cloth Object Set: Fostering Benchmarking in Deformable Object Manipulation
Irene Garcia-Camacho, Júlia Borràs, Berk Calli +2
Benchmarking of robotic manipulations is one of the open issues in robotic research. An important factor that has enabled progress in this area in the last decade is the existence…
Research Challenges and Progress in Robotic Grasping and Manipulation Competitions
Yu Sun, Joe Falco, Maximo A. Roa +1
This paper discusses recent research progress in robotic grasping and manipulation in the light of the latest Robotic Grasping and Manipulation Competitions (RGMCs). We first provi…
ZeroWaste Dataset: Towards Deformable Object Segmentation in Cluttered Scenes
Dina Bashkirova, Mohamed Abdelfattah, Ziliang Zhu +7
Less than 35% of recyclable waste is being actually recycled in the US, which leads to increased soil and sea pollution and is one of the major concerns of environmental researcher…
ECNNs: Ensemble Learning Methods for Improving Planar Grasp Quality Estimation
Fadi Alladkani, James Akl, Berk Calli
We present an ensemble learning methodology that combines multiple existing robotic grasp synthesis algorithms and obtain a success rate that is significantly better than the indiv…
Grasp Synthesis for Novel Objects Using Heuristic-based and Data-driven Active Vision Methods
Sabhari Natarajan, Galen Brown, Berk Calli
In this work, we present several heuristic-based and data-driven active vision strategies for viewpoint optimization of an arm-mounted depth camera for the purpose of aiding roboti…
OCRTOC: A Cloud-Based Competition and Benchmark for Robotic Grasping and Manipulation
Ziyuan Liu, Wei Liu, Yuzhe Qin +8
In this paper, we propose a cloud-based benchmark for robotic grasping and manipulation, called the OCRTOC benchmark. The benchmark focuses on the object rearrangement problem, spe…
Region-Based Planning for 3D Within-Hand-Manipulation via Variable Friction Robot Fingers and Extrinsic Contacts
Alp Sahin, Adam J. Spiers, Berk Calli
Attempts to achieve robotic Within-Hand-Manipulation (WIHM) generally utilize either high-DOF robotic hands with elaborate sensing apparatus or multi-arm robotic systems. In prior…
Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols
Berk Calli, Aaron Walsman, Arjun Singh +3
In this paper we present the Yale-CMU-Berkeley (YCB) Object and Model set, intended to be used to facilitate benchmarking in robotic manipulation, prosthetic design and rehabilitat…