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cs.RO2024
Differentiable Contact Dynamics for Stable Object Placement Under Geometric Uncertainties
Linfeng Li, Gang Yang, Lin Shao +1
From serving a cup of coffee to positioning mechanical parts during assembly, stable object placement is a crucial skill for future robots. It becomes particularly challenging unde…
cs.RO2024
Differentiable Particles for General-Purpose Deformable Object Manipulation
Siwei Chen, Yiqing Xu, Cunjun Yu +2
Deformable object manipulation is a long-standing challenge in robotics. While existing approaches often focus narrowly on a specific type of object, we seek a general-purpose algo…
cs.RO2024
"Set It Up!": Functional Object Arrangement with Compositional Generative Models
Yiqing Xu, Jiayuan Mao, Yilun Du +3
This paper studies the challenge of developing robots capable of understanding under-specified instructions for creating functional object arrangements, such as "set up a dining ta…