4 papers · 2 filters
Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects
Aidan Curtis, Leslie Kaelbling, Siddarth Jain
Representing and reasoning about uncertainty is crucial for autonomous agents acting in partially observable environments with noisy sensors. Partially observable Markov decision p…
Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control
Devesh K. Jha, Siddarth Jain, Diego Romeres +2
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices,…
Design of Adaptive Compliance Controllers for Safe Robotic Assembly
Devesh K. Jha, Diego Romeres, Siddarth Jain +2
Insertion operations are a critical element of most robotic assembly operation, and peg-in-hole (PiH) insertion is one of the most widely studied tasks in the industrial and academ…
Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints
Xinghao Zhu, Siddarth Jain, Masayoshi Tomizuka +1
Vision-based tactile sensors typically utilize a deformable elastomer and a camera mounted above to provide high-resolution image observations of contacts. Obtaining accurate volum…