5 papers · 1 filter
Monocular Reconstruction of Neural Tactile Fields
Pavan Mantripragada, Siddhanth Deshmukh, Eadom Dessalene +2
Robots operating in the real world must plan through environments that deform, yield, and reconfigure under contact, requiring interaction-aware 3D representations that extend beyo…
EmbodiSwap for Zero-Shot Robot Imitation Learning
Eadom Dessalene, Pavan Mantripragada, Michael Maynord +1
We introduce EmbodiSwap - a method for producing photorealistic synthetic robot overlays over human video. We employ EmbodiSwap for zero-shot imitation learning, bridging the embod…
Extremum Seeking Controlled Wiggling for Tactile Insertion
Levi Burner, Pavan Mantripragada, Gabriele M. Caddeo +3
When humans perform complex insertion tasks such as pushing a cup into a cupboard, routing a cable, or putting a key in a lock, they wiggle the object and adapt the process through…
GradTac: Spatio-Temporal Gradient Based Tactile Sensing
Kanishka Ganguly, Pavan Mantripragada, Chethan M. Parameshwara +3
Tactile sensing for robotics is achieved through a variety of mechanisms, including magnetic, optical-tactile, and conductive fluid. Currently, the fluid-based sensors have struck…
Grasping in the Dark: Zero-Shot Object Grasping Using Tactile Feedback
Kanishka Ganguly, Behzad Sadrfaridpour, Pavan Mantripragada +3
Grasping and manipulating a wide variety of objects is a fundamental skill that would determine the success and wide spread adaptation of robots in homes. Several end-effector desi…