50 citations · 100 across the 6 of their papers we have counts for
3 papers · 2 filters
PACT: Posture-Aligned Co-Design Technique for Hand Configuration and Retargeting in Multi-Finger Imitation Learning
Koyo Sasazaki, Satoshi Funabashi, Pranav Ponnivalavan +3
The fidelity of teleoperated demonstrations used for imitation learning is determined by how faithfully a robot hand can replicate the operator's posture. The posture retargeting l…
FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning
Steven Oh, Jason Jingzhou Liu, Tony Tao +5
Contact-rich manipulation requires force sensitivity, but many robot arms lack dedicated force sensors due to their high cost. We present Neural External Torque Estimation (NEXT),…
TaSA: Two-Phased Deep Predictive Learning of Tactile Sensory Attenuation for Improving In-Grasp Manipulation
Pranav Ponnivalavan, Satoshi Funabashi, Alexander Schmitz +2
Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is st…