14 citations · 28 across the 5 of their papers we have counts for
5 papers · 1 filter
Practical Insights on Grasp Strategies for Mobile Manipulation in the Wild
Isabella Huang, Richard Cheng, Sangwoon Kim +8
Mobile manipulation robots are continuously advancing, with their grasping capabilities rapidly progressing. However, there are still significant gaps preventing state-of-the-art m…
A Direct Semi-Exhaustive Search Method for Robust, Partial-to-Full Point Cloud Registration
Richard Cheng, Chavdar Papozov, Dan Helmick +1
Point cloud registration refers to the problem of finding the rigid transformation that aligns two given point clouds, and is crucial for many applications in robotics and computer…
Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach
Max Bajracharya, James Borders, Richard Cheng +11
We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system…
A Learned Stereo Depth System for Robotic Manipulation in Homes
Krishna Shankar, Mark Tjersland, Jeremy Ma +2
We present a passive stereo depth system that produces dense and accurate point clouds optimized for human environments, including dark, textureless, thin, reflective and specular…
SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo
Thomas Kollar, Michael Laskey, Kevin Stone +2
Robot manipulation of unknown objects in unstructured environments is a challenging problem due to the variety of shapes, materials, arrangements and lighting conditions. Even with…