4 papers · 1 filter
LLMPhy: Parameter-Identifiable Physical Reasoning Combining Large Language Models and Physics Engines
Anoop Cherian, Radu Corcodel, Siddarth Jain +1
Most learning-based approaches to complex physical reasoning sidestep the crucial problem of parameter identification (e.g., mass, friction) that governs scene dynamics, despite it…
Open Human-Robot Collaboration using Decentralized Inverse Reinforcement Learning
Prasanth Sengadu Suresh, Siddarth Jain, Prashant Doshi +1
The growing interest in human-robot collaboration (HRC), where humans and robots cooperate towards shared goals, has seen significant advancements over the past decade. While previ…
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…