14 citations · 21 across the 6 of their papers we have counts for
7 papers · 1 filter
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries
Bingjie Tang, Iretiayo Akinola, Jie Xu +7
Robotic assembly for high-mixture settings requires adaptivity to diverse parts and poses, which is an open challenge. Meanwhile, in other areas of robotics, large models and sim-t…
Fabrics: A Foundationally Stable Medium for Encoding Prior Experience
Nathan Ratliff, Karl Van Wyk
Most dynamics functions are not well-aligned to task requirements. Controllers, therefore, often invert the dynamics and reshape it into something more useful. The learning communi…
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior
Karl Van Wyk, Mandy Xie, Anqi Li +9
Classical mechanical systems are central to controller design in energy shaping methods of geometric control. However, their expressivity is limited by position-only metrics and th…
Interpreting and Predicting Tactile Signals for the SynTouch BioTac
Yashraj S. Narang, Balakumar Sundaralingam, Karl Van Wyk +2
In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile se…
Optimization Fabrics for Behavioral Design
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie +2
A common approach to the provably stable design of reactive behavior, exemplified by operational space control, is to reduce the problem to the design of virtual classical mechanic…
Geometric Fabrics for the Acceleration-based Design of Robotic Motion
Mandy Xie, Karl Van Wyk, Anqi Li +5
This paper describes the pragmatic design and construction of geometric fabrics for shaping a robot's task-independent nominal behavior, capturing behavioral components such as obs…
Multi-Fingered Robotic Grasping: A Primer
Stefano Carpin, Shuo Liu, Joe Falco +1
This technical report presents an introduction to different aspects of multi-fingered robot grasping. After having introduced relevant mathematical background for modeling, form an…