4 papers
Deformable Elasto-Plastic Object Shaping using an Elastic Hand and Model-Based Reinforcement Learning
Carolyn Matl, Ruzena Bajcsy
Deformable solid objects such as clay or dough are prevalent in industrial and home environments. However, robotic manipulation of such objects has largely remained unexplored in l…
StRETcH: a Soft to Resistive Elastic Tactile Hand
Carolyn Matl, Josephine Koe, Ruzena Bajcsy
Soft optical tactile sensors enable robots to manipulate deformable objects by capturing important features such as high-resolution contact geometry and estimations of object compl…
STReSSD: Sim-To-Real from Sound for Stochastic Dynamics
Carolyn Matl, Yashraj Narang, Dieter Fox +2
Sound is an information-rich medium that captures dynamic physical events. This work presents STReSSD, a framework that uses sound to bridge the simulation-to-reality gap for stoch…
Inferring the Material Properties of Granular Media for Robotic Tasks
Carolyn Matl, Yashraj Narang, Ruzena Bajcsy +2
Granular media (e.g., cereal grains, plastic resin pellets, and pills) are ubiquitous in robotics-integrated industries, such as agriculture, manufacturing, and pharmaceutical deve…