5 citations · 13 across the 13 of their papers we have counts for
10 papers · 1 filter
SoTa: Soft Tactile Skins for Dexterous Manipulation
Jingyun Yang, Baiyu Shi, Timothy Yu +6
A growing body of work suggests that tactile sensing gives robot policies contact information that complements vision in dexterous manipulation. However, visuo-tactile robot data r…
Demystifying When and Why VLAs Fail in Contact-Rich Tasks and How to Fix Them
Carlota Parés-Morlans, Nils Kuhn, Y. Isabel Liu +3
We address the problem of understanding when and why Vision-Language-Action models struggle with contact-rich manipulation tasks that require precise physical interaction. Prior wo…
Sim-to-Real Gentle Manipulation of Deformable and Fragile Objects with Stress-Guided Reinforcement Learning
Kei Ikemura, Yifei Dong, David Blanco-Mulero +3
Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions…
The First WARA Robotics Mobile Manipulation Challenge -- Lessons Learned
David Cáceres Domínguez, Marco Iannotta, Abhishek Kashyap +21
The first WARA Robotics Mobile Manipulation Challenge, held in December 2024 at ABB Corporate Research in Västerås, Sweden, addressed the automation of task-intensive and repetitiv…
FLAME: A Federated Learning Benchmark for Robotic Manipulation
Santiago Bou Betran, Alberta Longhini, Miguel Vasco +2
Recent progress in robotic manipulation has been fueled by large-scale datasets collected across diverse environments. Training robotic manipulation policies on these datasets is t…
Unfolding the Literature: A Review of Robotic Cloth Manipulation
Alberta Longhini, Yufei Wang, Irene Garcia-Camacho +9
The realm of textiles spans clothing, households, healthcare, sports, and industrial applications. The deformable nature of these objects poses unique challenges that prior work on…
Standardization of Cloth Objects and its Relevance in Robotic Manipulation
Irene Garcia-Camacho, Alberta Longhini, Michael Welle +3
The field of robotics faces inherent challenges in manipulating deformable objects, particularly in understanding and standardising fabric properties like elasticity, stiffness, an…
AdaFold: Adapting Folding Trajectories of Cloths via Feedback-loop Manipulation
Alberta Longhini, Michael C. Welle, Zackory Erickson +1
We present AdaFold, a model-based feedback-loop framework for optimizing folding trajectories. AdaFold extracts a particle-based representation of cloth from RGB-D images and feeds…
Elastic Context: Encoding Elasticity for Data-driven Models of Textiles
Alberta Longhini, Marco Moletta, Alfredo Reichlin +6
Physical interaction with textiles, such as assistive dressing, relies on advanced dextreous capabilities. The underlying complexity in textile behavior when being pulled and stret…
Textile Taxonomy and Classification Using Pulling and Twisting
Alberta Longhini, Michael C. Welle, Ioanna Mitsioni +1
Identification of textile properties is an important milestone toward advanced robotic manipulation tasks that consider interaction with clothing items such as assisted dressing, l…