4 papers
PLUME: Probabilistic Latent Unified World Modeling and Parameter Estimation for Multi-Finger Manipulation
Abhinav Kumar, Soshi Iba, Rana Soltani Zarrin +1
Dexterous manipulation with multi-finger hands can be sensitive to physical parameters such as object shape, pose, and friction coefficients. While simulation enables large-scale d…
Bidirectional Human-Robot Communication for Physical Human-Robot Interaction
Junxiang Wang, Cindy Wang, Rana Soltani Zarrin +1
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE,…
Online augmentation of learned grasp sequence policies for more adaptable and data-efficient in-hand manipulation
Ethan K. Gordon, Rana Soltani Zarrin
When using a tool, the grasps used for picking it up, reposing, and holding it in a suitable pose for the desired task could be distinct. Therefore, a key challenge for autonomous…
Hybrid Learning- and Model-Based Planning and Control of In-Hand Manipulation
Rana Soltani Zarrin, Katsu Yamane, Rianna Jitosho
This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic h…