11 papers · 1 filter
Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation
Ava Abderezaei, Nataliya Nechyporenko, Joseph Miceli +2
Robotics demands simulation that can reason about the diversity of real-world physical interactions, from rigid to deformable objects and fluids. Current simulators address this by…
Moving On, Even When You're Broken: Fail-Active Trajectory Generation via Diffusion Policies Conditioned on Embodiment and Task
Gilberto G. Briscoe-Martinez, Yaashia Gautam, Rahul Shetty +3
Robot failure is detrimental and disruptive, often requiring human intervention to recover. Our vision is 'fail-active' operation, allowing robots to safely complete their tasks ev…
FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid
Niraj Pudasaini, Yutong Zhang, Jensen Lavering +2
Maintaining balance under external hand forces is critical for humanoid bimanual manipulation, where interaction forces propagate through the kinematic chain and constrain the feas…
CRED: Counterfactual Reasoning and Environment Design for Active Preference Learning
Yi-Shiuan Tung, Gyanig Kumar, Wei Jiang +2
As a robot's operational environment and tasks to perform within it grow in complexity, the explicit specification and balancing of optimization objectives to achieve a preferred b…
BBoE: Leveraging Bundle of Edges for Kinodynamic Bidirectional Motion Planning
Srikrishna Bangalore Raghu, Alessandro Roncone
In this work, we introduce BBoE, a bidirectional, kinodynamic, sampling-based motion planner that consistently and quickly finds low-cost solutions in environments with varying obs…
Dynamics-Compliant Trajectory Diffusion for Super-Nominal Payload Manipulation
Anuj Pasricha, Joewie Koh, Jay Vakil +1
Nominal payload ratings for articulated robots are typically derived from worst-case configurations, resulting in uniform payload constraints across the entire workspace. This cons…