2 papers
cs.RO2024
Constraining Gaussian Process Implicit Surfaces for Robot Manipulation via Dataset Refinement
Abhinav Kumar, Peter Mitrano, Dmitry Berenson
Model-based control faces fundamental challenges in partially-observable environments due to unmodeled obstacles. We propose an online learning and optimization method to identify…
cs.RO2024
The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables
Peter Mitrano, Dmitry Berenson
Robotic manipulation of deformable, one-dimensional objects (DOOs) like ropes or cables has important potential applications in manufacturing, agriculture, and surgery. In such env…