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cs.RO2024
RUMI: Rummaging Using Mutual Information
Sheng Zhong, Nima Fazeli, Dmitry Berenson
This paper presents Rummaging Using Mutual Information (RUMI), a method for online generation of robot action sequences to gather information about the pose of a known movable obje…
cs.RO2024
Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control
Miquel Oller, Dmitry Berenson, Nima Fazeli
In this paper, we consider the problem of non-prehensile manipulation using grasped objects. This problem is a superset of many common manipulation skills including instances of to…