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cs.RO2025
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…
cs.RO2025
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…
cs.RO2025
Language-Guided Object Search in Agricultural Environments
Advaith Balaji, Saket Pradhan, Dmitry Berenson
Creating robots that can assist in farms and gardens can help reduce the mental and physical workload experienced by farm workers. We tackle the problem of object search in a farm…