61 citations · 68 across the 10 of their papers we have counts for
10 papers
BOMP: Bin-Optimized Motion Planning
Zachary Tam, Karthik Dharmarajan, Tianshuang Qiu +3
In logistics, the ability to quickly compute and execute pick-and-place motions from bins is critical to increasing productivity. We present Bin-Optimized Motion Planning (BOMP), a…
Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening
Vincent Schorp, Will Panitch, Kaushik Shivakumar +6
Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread,…
Automating Vascular Shunt Insertion with the dVRK Surgical Robot
Karthik Dharmarajan, Will Panitch, Muyan Jiang +7
Vascular shunt insertion is a fundamental surgical procedure used to temporarily restore blood flow to tissues. It is often performed in the field after major trauma. We formulate…
SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception
Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu +6
Cables are commonplace in homes, hospitals, and industrial warehouses and are prone to tangling. This paper extends prior work on autonomously untangling long cables by introducing…
SpeedFolding: Learning Efficient Bimanual Folding of Garments
Yahav Avigal, Lars Berscheid, Tamim Asfour +2
Folding garments reliably and efficiently is a long standing challenge in robotic manipulation due to the complex dynamics and high dimensional configuration space of garments. An…
GOMP-ST: Grasp Optimized Motion Planning for Suction Transport
Yahav Avigal, Jeffrey Ichnowski, Max Yiye Cao +1
Suction cup grasping is very common in industry, but moving too quickly can cause suction cups to detach, causing drops or damage. Maintaining a suction grasp throughout a high-spe…
AlphaGarden: Learning to Autonomously Tend a Polyculture Garden
Mark Presten, Yahav Avigal, Mark Theis +9
This paper presents AlphaGarden: an autonomous polyculture garden that prunes and irrigates living plants in a 1.5m x 3.0m physical testbed. AlphaGarden uses an overhead camera and…
Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects
Jeffrey Ichnowski, Yahav Avigal, Justin Kerr +1
The ability to grasp and manipulate transparent objects is a major challenge for robots. Existing depth cameras have difficulty detecting, localizing, and inferring the geometry of…
GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport
Jeffrey Ichnowski, Yahav Avigal, Yi Liu +1
High-speed motions in pick-and-place operations are critical to making robots cost-effective in many automation scenarios, from warehouses and manufacturing to hospitals and homes.…
6-DoF Grasp Planning using Fast 3D Reconstruction and Grasp Quality CNN
Yahav Avigal, Samuel Paradis, Harry Zhang
Recent consumer demand for home robots has accelerated performance of robotic grasping. However, a key component of the perception pipeline, the depth camera, is still expensive an…