4 papers
AVO: Amortized Value Optimization for Contact Mode Switching in Multi-Finger Manipulation
Adam Hung, Fan Yang, Abhinav Kumar +4
Dexterous manipulation tasks often require switching between different contact modes, such as rolling, sliding, sticking, or non-contact contact modes. When formulating dexterous m…
Diffusing Trajectory Optimization Problems for Recovery During Multi-Finger Manipulation
Abhinav Kumar, Fan Yang, Sergio Aguilera Marinovic +3
Multi-fingered hands are emerging as powerful platforms for performing fine manipulation tasks, including tool use. However, environmental perturbations or execution errors can imp…
AnoF-Diff: One-Step Diffusion-Based Anomaly Detection for Forceful Tool Use
Yating Lin, Zixuan Huang, Fan Yang +1
Multivariate time-series anomaly detection, which is critical for identifying unexpected events, has been explored in the field of machine learning for several decades. However, di…
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation
Abhinav Kumar, Thomas Power, Fan Yang +4
Planning contact-rich interactions for multi-finger manipulation is challenging due to the high-dimensionality and hybrid nature of dynamics. Recent advances in data-driven methods…