5 papers
CoRAL: Contact-Rich Adaptive LLM-based Control for Robotic Manipulation
Berk Çiçek, Mert K. Er, Ozgur S. Oguz
While Large Language Models (LLMs) and Vision-Language Models (VLMs) demonstrate remarkable capabilities in high-level reasoning and semantic understanding, applying them directly…
Interpretable Responsibility Sharing as a Heuristic for Task and Motion Planning
Arda Sarp Yenicesu, Sepehr Nourmohammadi, Berk Cicek +1
This article introduces a novel heuristic for Task and Motion Planning (TAMP) named Interpretable Responsibility Sharing (IRS), which enhances planning efficiency in domestic robot…
H-MaP: An Iterative and Hybrid Sequential Manipulation Planner
Berk Cicek, Arda Sarp Yenicesu, Cankut Bora Tuncer +2
This paper introduces H-MaP, a hybrid sequential manipulation planner that addresses complex tasks requiring both sequential actions and dynamic contact mode switches. Our approach…
FViT-Grasp: Grasping Objects With Using Fast Vision Transformers
Arda Sarp Yenicesu, Berk Cicek, Ozgur S. Oguz
This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point…
Optically Driven Janus Micro Engine with Full Orbital Motion Control
David Bronte Ciriza, Agnese Callegari, Maria Grazia Donato +11
Microengines have shown promise for a variety of applications in nanotechnology, microfluidics and nanomedicine, including targeted drug delivery, microscale pumping, and environme…