9 papers
You Only Touch Once: 6-DoF Object Pose Estimation from Single Tactile Contact
Pengfei Ye, Yuxiang Ma, Haonan Chen +5
Accurate 6-DoF object pose estimation is fundamental to robotic manipulation, yet vision-based methods often fail under occlusion, poor lighting, and reflective or transparent surf…
CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation
Haonan Chen, Yuxiang Ma, Stephen Tian +7
Long-horizon, contact-rich complex manipulation tasks, such as seating a GPU into a PCIe slot, demand both millimeter high precision and out-of-the-box generalization to new tasks.…
2D and 3D Grasp Planners for the GET Asymmetrical Gripper
Andrew Goldberg, Ethan Ransing, Anton Kourakin +3
In this paper, we introduce GET-2D-1.0, a fast grasp planner for the GET asymmetrical gripper that operates from a single-view RGB-D image, using the Ferrari-Canny metric and a nov…
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
Yiting Chen, Kenneth Kimble, Edward H. Adelson +20
Dexterous manipulation enables robots to purposefully alter the physical world, transforming them from passive observers into active agents in unstructured environments. This capab…
Sashimi-Bot: Autonomous Tri-manual Advanced Manipulation and Cutting of Deformable Objects
Sverre Herland, Amit Parag, Elling Ruud Ãye +9
Advanced robotic manipulation of deformable, volumetric objects remains one of the greatest challenges due to their pliancy, frailness, variability, and uncertainties during intera…
Object Recognition and Force Estimation with the GelSight Baby Fin Ray
Sandra Q. Liu, Yuxiang Ma, Edward H. Adelson
Recent advances in soft robotic hands and tactile sensing have enabled both to perform an increasing number of complex tasks with the aid of machine learning. In particular, we pre…