386 citations · 465 across the 21 of their papers we have counts for
4 papers · 1 filter
Manipulation with Stability Guarantees: Linear Deformable Objects with Non-negligible Physical Response Grasped at Multiple Location
Daniel Feliu-Talegon, Cosimo Della Santina
Most research on the manipulation of deformable objects focuses on lightweight systems with negligible mechanical response, effectively restricting attention to quasi-static regime…
Learning to infer and manipulate through distributed whole-arm interaction in a soft robot
Chuhan Zhang, Ebrahim Shahabi, Kseniia Khomenko +2
In animals such as elephants and octopuses, acquiring non-visual information about an object and physically engaging with it are inseparable processes mediated by rich, large-area…
Set-Supervised Diffusion Policy: Learning Action-Chunking Diffusion through Corrections
Zhaoting Li, Gang Chen, Javier Alonso-Mora +2
Diffusion policies have recently emerged as a powerful framework for robotic manipulation. However, like other behavior cloning methods, they remain vulnerable to distributional sh…
Soft Swing-up: Benchmarking Model-Based Optimal Control for Rigid-Soft Underactuated Systems
Daniele Caradonna, Nikhil Nair, Anup Teejo Mathew +5
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robo…