24 citations · 25 across the 6 of their papers we have counts for
6 papers
Failing Forward: Adaptive Failure-Informed Learning for Vision-Language-Action Models
Meng Zheng, Samhita Marri, Anwesa Choudhuri +6
Vision-language-action (VLA) models provide a promising paradigm for scalable robotic manipulation, yet their reliance on success-only behavioral cloning leaves them brittle; lacki…
HyReach: Vision-Guided Hybrid Manipulator Reaching in Unseen Cluttered Environments
Shivani Kamtikar, Kendall Koe, Justin Wasserman +5
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptabili…
Precision Harvesting in Cluttered Environments: Integrating End Effector Design with Dual Camera Perception
Kendall Koe, Poojan Kalpeshbhai Shah, Benjamin Walt +7
Due to labor shortages in specialty crop industries, a need for robotic automation to increase agricultural efficiency and productivity has arisen. Previous manipulation systems pe…
PlantTrack: Task-Driven Plant Keypoint Tracking with Zero-Shot Sim2Real Transfer
Samhita Marri, Arun N. Sivakumar, Naveen K. Uppalapati +1
Tracking plant features is crucial for various agricultural tasks like phenotyping, pruning, or harvesting, but the unstructured, cluttered, and deformable nature of plant environm…
Gazebo Plants: Simulating Plant-Robot Interaction with Cosserat Rods
Junchen Deng, Samhita Marri, Jonathan Klein +4
Robotic harvesting has the potential to positively impact agricultural productivity, reduce costs, improve food quality, enhance sustainability, and to address labor shortage. In t…
Visual Servoing for Pose Control of Soft Continuum Arm in a Structured Environment
Shivani Kamtikar, Samhita Marri, Benjamin Walt +3
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as i…