16 citations · 27 across the 5 of their papers we have counts for
5 papers
In the Wild Ungraspable Object Picking with Bimanual Nonprehensile Manipulation
Albert Wu, Dan Kruse
Picking diverse objects in the real world is a fundamental robotics skill. However, many objects in such settings are bulky, heavy, or irregularly shaped, making them ungraspable b…
Synthesize Dexterous Nonprehensile Pregrasp for Ungraspable Objects
Sirui Chen, Albert Wu, C. Karen Liu
Daily objects embedded in a contextual environment are often ungraspable initially. Whether it is a book sandwiched by other books on a fully packed bookshelf or a piece of paper l…
Learning Diverse and Physically Feasible Dexterous Grasps with Generative Model and Bilevel Optimization
Albert Wu, Michelle Guo, C. Karen Liu
To fully utilize the versatility of a multi-fingered dexterous robotic hand for executing diverse object grasps, one must consider the rich physical constraints introduced by hand-…
Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems
Albert Wu, Thomas Lew, Kiril Solovey +2
Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position,…
Real-time Model Predictive Control and System Identification Using Differentiable Physics Simulation
Sirui Chen, Keenon Werling, Albert Wu +1
Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "si…