4 papers
Rotation-Aware Point-Cloud Embeddings for Vision-Based In-Hand Reorientation
Yashom Dighe, Karthik Dantu
Point-cloud goals provide a direct way to specify dexterous in-hand reorientation: instead of defining an object-specific pose frame or estimating 6D pose at test time, the policy…
Language-in-the-Loop Culvert Inspection on the Erie Canal
Yash Turkar, Yashom Dighe, Karthik Dantu
Culverts on canals such as the Erie Canal, built originally in 1825, require frequent inspections to ensure safe operation. Human inspection of culverts is challenging due to age,…
QuayPoints: A Reasoning Framework to Bridge the Information Gap Between Global and Local Planning in Autonomous Racing
Yashom Dighe, Youngjin Kim, Karthik Dantu
Autonomous racing requires tight integration between perception, planning and control to minimize latency as well as timely decision making. A standard autonomy pipeline comprising…
TERA: A Simulation Environment for Terrain Excavation Robot Autonomy
Christo Aluckal, Roopesh Vinodh Kumar Lal, Sean Courtney +5
Developing excavation autonomy is challenging given the environments where excavators operate, the complexity of physical interaction and the degrees of freedom of operation of the…