8 citations · 13 across the 9 of their papers we have counts for
9 papers
BOMP: Bin-Optimized Motion Planning
Zachary Tam, Karthik Dharmarajan, Tianshuang Qiu +3
In logistics, the ability to quickly compute and execute pick-and-place motions from bins is critical to increasing productivity. We present Bin-Optimized Motion Planning (BOMP), a…
RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning
Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan +6
Scaling up robot learning requires large and diverse datasets, and how to efficiently reuse collected data and transfer policies to new embodiments remains an open question. Emergi…
ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity
Qinxi Yu, Masoud Moghani, Karthik Dharmarajan +8
Physics-based simulations have accelerated progress in robot learning for driving, manipulation, and locomotion. Yet, a fast, accurate, and robust surgical simulation environment r…
STITCH: Augmented Dexterity for Suture Throws Including Thread Coordination and Handoffs
Kush Hari, Hansoul Kim, Will Panitch +6
We present STITCH: an augmented dexterity pipeline that performs Suture Throws Including Thread Coordination and Handoffs. STITCH iteratively performs needle insertion, thread swee…
Mirage: Cross-Embodiment Zero-Shot Policy Transfer with Cross-Painting
Lawrence Yunliang Chen, Kush Hari, Karthik Dharmarajan +3
The ability to reuse collected data and transfer trained policies between robots could alleviate the burden of additional data collection and training. While existing approaches su…
FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity
Kaiyuan Chen, Ryan Hoque, Karthik Dharmarajan +5
The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on de…
Automating Vascular Shunt Insertion with the dVRK Surgical Robot
Karthik Dharmarajan, Will Panitch, Muyan Jiang +7
Vascular shunt insertion is a fundamental surgical procedure used to temporarily restore blood flow to tissues. It is often performed in the field after major trauma. We formulate…
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision
Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma +4
Commercial and industrial deployments of robot fleets at Amazon, Nimble, Plus One, Waymo, and Zoox query remote human teleoperators when robots are at risk or unable to make task p…
FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2
Jeffrey Ichnowski, Kaiyuan Chen, Karthik Dharmarajan +12
Mobility, power, and price points often dictate that robots do not have sufficient computing power on board to run contemporary robot algorithms at desired rates. Cloud computing p…