29 citations · 66 across the 9 of their papers we have counts for
9 papers
Collaborative Object Handover in a Robot Crafting Assistant
Leimin Tian, Shiyu Xu, Kerry He +3
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers bet…
A Review of Differentiable Simulators
Rhys Newbury, Jack Collins, Kerry He +4
Differentiable simulators continue to push the state of the art across a range of domains including computational physics, robotics, and machine learning. Their main value is the a…
Variable Grasp Pose and Commitment for Trajectory Optimization
Jiahe Pan, Kerry He, Jia Ming Ong +1
We propose enhancing trajectory optimization methods through the incorporation of two key ideas: variable-grasp pose sampling and trajectory commitment. Our iterative approach samp…
Robot Gaze During Autonomous Navigation and its Effect on Social Presence
Kerry He, Wesley P. Chan, Akansel Cosgun +2
As robots have become increasingly common in human-rich environments, it is critical that they are able to exhibit social cues to be perceived as a cooperative and socially-conform…
Crafting with a Robot Assistant: Use Social Cues to Inform Adaptive Handovers in Human-Robot Collaboration
Leimin Tian, Kerry He, Shiyu Xu +2
We study human-robot handovers in a naturalistic collaboration scenario, where a mobile manipulator robot assists a person during a crafting session by providing and retrieving obj…
On-The-Go Robot-to-Human Handovers with a Mobile Manipulator
Kerry He, Pradeepsundar Simini, Wesley Chan +3
Existing approaches to direct robot-to-human handovers are typically implemented on fixed-base robot arms, or on mobile manipulators that come to a full stop before performing the…
Visibility Maximization Controller for Robotic Manipulation
Kerry He, Rhys Newbury, Tin Tran +5
Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive control…
Tabletop Object Rearrangement: Team ACRV's Entry to OCRTOC
Zheyu Zhang, Rhys Newbury, Kerry He +5
Open Cloud Robot Table Organization Challenge (OCRTOC) is one of the most comprehensive cloud-based robotic manipulation competitions. It focuses on rearranging tabletop objects us…
Learning to Place Objects onto Flat Surfaces in Upright Orientations
Rhys Newbury, Kerry He, Akansel Cosgun +1
We study the problem of placing a grasped object on an empty flat surface in an upright orientation, such as placing a cup on its bottom rather than on its side. We aim to find the…