4 papers
DECAF: a Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly
Giulio Giacomuzzo, Matteo Terreran, Siddarth Jain +1
This paper proposes a task planning framework for collaborative Human-Robot scenarios, specifically focused on assembling complex systems such as furniture. The human is characteri…
Autonomous Robotic Assembly: From Part Singulation to Precise Assembly
Kei Ota, Devesh K. Jha, Siddarth Jain +5
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem w…
EARL: Eye-on-Hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation
Baichuan Huang, Jingjin Yu, Siddarth Jain
In this paper, we explore the dynamic grasping of moving objects through active pose tracking and reinforcement learning for hand-eye coordination systems. Most existing vision-bas…
Learning Generalizable Pivoting Skills
Xiang Zhang, Siddarth Jain, Baichuan Huang +2
The skill of pivoting an object with a robotic system is challenging for the external forces that act on the system, mainly given by contact interaction. The complexity increases w…