5 papers · 1 filter
BayesContact: Uncertain Pose Estimation via Visuo-Tactile Proposals and Simulation-based Inference
Aditya Kamireddypalli, Matias Mattamala, Joao Moura +3
Contact-rich manipulation requires pose estimates that are often more accurate than what depth-only sensing provides. Existing methods, relying on vision and contact, employ costly…
Online Estimation and Manipulation of Articulated Objects
Russell Buchanan, Adrian Röfer, João Moura +2
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots…
ContactFusion: Stochastic Poisson Surface Maps from Visual and Contact Sensing
Aditya Kamireddypalli, Joao Moura, Russell Buchanan +3
Robust and precise robotic assembly entails insertion of constituent components. Insertion success is hindered when noise in scene understanding exceeds tolerance limits, especiall…
Efficient Learning of Object Placement with Intra-Category Transfer
Adrian Röfer, Russell Buchanan, Max Argus +2
Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recen…
Online Estimation of Articulated Objects with Factor Graphs using Vision and Proprioceptive Sensing
Russell Buchanan, Adrian Röfer, João Moura +2
From dishwashers to cabinets, humans interact with articulated objects every day, and for a robot to assist in common manipulation tasks, it must learn a representation of articula…