13 citations · 28 across the 14 of their papers we have counts for
12 papers · 1 filter
One Demonstration, Many Objects: Generalizing Manipulation via Local Contact Geometry
Satvik Sharma, Samrat Sahoo, Huang Huang +4
Dexterous manipulation with multi-fingered robot hands promises human-level dexterity, but collecting large-scale dexterous robot hand data remains difficult. Learning from human d…
Pre-training Visual Dexterity in Simulation
Sarthak Kamat, Adam Rashid, Satvik Sharma +4
Large-scale pre-training has made robot policy fine-tuning increasingly data-efficient, but this progress has largely been driven by datasets and embodiments built around simple pa…
MemER: Scaling Up Memory for Robot Control via Experience Retrieval
Ajay Sridhar, Jennifer Pan, Satvik Sharma +1
Humans routinely rely on memory to perform tasks, yet most robot policies lack this capability; our goal is to endow robot policies with the same ability. Naively conditioning on l…
Conformal Policy Learning for Sensorimotor Control Under Distribution Shifts
Huang Huang, Satvik Sharma, Antonio Loquercio +3
This paper focuses on the problem of detecting and reacting to changes in the distribution of a sensorimotor controller's observables. The key idea is the design of switching polic…
Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping
Adam Rashid, Satvik Sharma, Chung Min Kim +4
Grasping objects by a specific part is often crucial for safety and for executing downstream tasks. Yet, learning-based grasp planners lack this behavior unless they are trained on…
Can Machines Garden? Systematically Comparing the AlphaGarden vs. Professional Horticulturalists
Simeon Adebola, Rishi Parikh, Mark Presten +8
The AlphaGarden is an automated testbed for indoor polyculture farming which combines a first-order plant simulator, a gantry robot, a seed planting algorithm, plant phenotyping an…
Semantic Mechanical Search with Large Vision and Language Models
Satvik Sharma, Huang Huang, Kaushik Shivakumar +4
Moving objects to find a fully-occluded target object, known as mechanical search, is a challenging problem in robotics. As objects are often organized semantically, we conjecture…
Learning to Efficiently Plan Robust Frictional Multi-Object Grasps
Wisdom C. Agboh, Satvik Sharma, Kishore Srinivas +7
We consider a decluttering problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface and must be efficiently tran…
Automated Pruning of Polyculture Plants
Mark Presten, Rishi Parikh, Shrey Aeron +6
Polyculture farming has environmental advantages but requires substantially more pruning than monoculture farming. We present novel hardware and algorithms for automated pruning. U…
Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies
Satvik Sharma, Ellen Novoseller, Vainavi Viswanath +6
Simulation-to-reality transfer has emerged as a popular and highly successful method to train robotic control policies for a wide variety of tasks. However, it is often challenging…
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision
Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma +4
Commercial and industrial deployments of robot fleets at Amazon, Nimble, Plus One, Waymo, and Zoox query remote human teleoperators when robots are at risk or unable to make task p…
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…