38 citations · 53 across the 7 of their papers we have counts for
8 papers · 1 filter
MobileVISTA: Generative Data Augmentation for Pose Generalization in Mobile Manipulation
Suzannah Wistreich, Stephen Tian, Isabella Huang +4
Mobile manipulators such as humanoid robots are increasingly deployed in dynamic, unstructured environments to perform dexterous manipulation tasks. However, end-to-end manipulatio…
Mobi-: Mobilizing Your Robot Learning Policy
Jingyun Yang, Isabella Huang, Brandon Vu +3
Learned visuomotor policies are capable of performing increasingly complex manipulation tasks. However, most of these policies are trained on data collected from limited robot posi…
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…
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets
Isabella Huang, Yashraj Narang, Ruzena Bajcsy +3
Robotic grasping of 3D deformable objects is critical for real-world applications such as food handling and robotic surgery. Unlike rigid and articulated objects, 3D deformable obj…
Design Project of an Open-Source, Low-Cost, and Lightweight Robotic Manipulator for High School Students
Isabella Huang, Qianwen Zhao, Maxine Fontaine +1
In recent years, there is an increasing interest in high school robotics extracurriculars such as robotics clubs and robotics competitions. The growing demand is a result of more u…
DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects
Isabella Huang, Yashraj Narang, Clemens Eppner +5
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery…
IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model
Chung Min Kim, Michael Danielczuk, Isabella Huang +1
Accurately simulating whether an object will be lifted securely or dropped during grasping is a longstanding Sim2Real challenge. Soft compliant jaw tips are almost universally used…
DefGraspSim: Simulation-based grasping of 3D deformable objects
Isabella Huang, Yashraj Narang, Clemens Eppner +4
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery…