5 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…
GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty
Sirui Chen, Sergio Aguilera Marinovic, Soshi Iba +1
Sense of touch that allows robots to detect contact and measure interaction forces enables them to perform challenging tasks such as grasping fragile objects or using tools. Tactil…
On the Feasibility of A Mixed-Method Approach for Solving Long Horizon Task-Oriented Dexterous Manipulation
Shaunak A. Mehta, Rana Soltani Zarrin
In-hand manipulation of tools using dexterous hands in real-world is an underexplored problem in the literature. In addition to more complex geometry and larger size of the tools c…
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…