6 papers
UNO Push: Unified Nonprehensile Object Pushing via Non-Parametric Estimation and Model Predictive Control
Gaotian Wang, Kejia Ren, Kaiyu Hang
Nonprehensile manipulation through precise pushing is an essential skill that has been commonly challenged by perception and physical uncertainties, such as those associated with c…
Interactive Robot-Environment Self-Calibration via Compliant Exploratory Actions
Podshara Chanrungmaneekul, Kejia Ren, Joshua T. Grace +2
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, et…
RISeg: Robot Interactive Object Segmentation via Body Frame-Invariant Features
Howard H. Qian, Yangxiao Lu, Kejia Ren +4
In order to successfully perform manipulation tasks in new environments, such as grasping, robots must be proficient in segmenting unseen objects from the background and/or other o…
Non-Parametric Self-Identification and Model Predictive Control of Dexterous In-Hand Manipulation
Podshara Chanrungmaneekul, Kejia Ren, Joshua T. Grace +2
Building hand-object models for dexterous in-hand manipulation remains a crucial and open problem. Major challenges include the difficulty of obtaining the geometric and dynamical…
Kinodynamic Rapidly-exploring Random Forest for Rearrangement-Based Nonprehensile Manipulation
Kejia Ren, Podshara Chanrungmaneekul, Lydia E. Kavraki +1
Rearrangement-based nonprehensile manipulation still remains as a challenging problem due to the high-dimensional problem space and the complex physical uncertainties it entails. W…
Rearrangement-Based Manipulation via Kinodynamic Planning and Dynamic Planning Horizons
Kejia Ren, Lydia E. Kavraki, Kaiyu Hang
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target o…