103 citations · 106 across the 23 of their papers we have counts for
26 papers
Learning with Object-centric Representations of Tactile Interactive Perception for Robot Manipulation
Xinyi Yang, Zilin Si, Zhuowei Xu +2
Implicit object properties that are difficult to directly infer from vision, such as material, container contents, or softness, can be revealed through tactile sensing and explorat…
BEACON: Belief-Enabled Adaptive CONtrol for Imitation Learning under Uncertainty
Moonyoung Lee, Soumojit Bhattacharya, George Kantor +1
Robot manipulation tasks often involve hidden state information that cannot be directly observed and must be inferred through sequential physical interactions. In such partially ob…
GTA-2: A Multi-VLM Framework for Synthesizing Robot Manipulation Skills via Grounded Task Axes
M. Yunus Seker, Shobhit Aggarwal, Ruwan Wickramarachchi +2
Robotic manipulation tasks are often decomposed into behaviors or skills. However, one often needs to predefine these behaviors for specific tasks or try to cover a wide range of t…
Inference-time Policy Steering via Vision and Touch
Yilin Wu, Zilin Si, Zeynep Temel +2
Inference-time steering adapts pre-trained generative robot policies during deployment by verifying candidate actions before execution. While prior methods typically perform this v…
TacO: Benchmarking Tactile Sensors for Object Manipulation
Anya Zorin, Zilin Si, Myungsun Park +11
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insuffi…
A multi-modal tactile fingertip design for robotic hands to enhance dexterous manipulation
Zhuowei Xu, Zilin Si, Kevin Zhang +2
Tactile sensing is critical for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing and inte…
Planning-Query-Guided Model Generation for Model-Based Deformable Object Manipulation
Alex LaGrassa, Zixuan Huang, Dmitry Berenson +1
Efficient planning in high-dimensional spaces, such as those involving deformable objects, requires computationally tractable yet sufficiently expressive dynamics models. This pape…
Audio-Visual Contact Classification for Tree Structures in Agriculture
Ryan Spears, Moonyoung Lee, George Kantor +1
Contact-rich manipulation tasks in agriculture, such as pruning and harvesting, require robots to physically interact with tree structures to maneuver through cluttered foliage. Id…
Grounded Task Axes: Zero-Shot Semantic Skill Generalization via Task-Axis Controllers and Visual Foundation Models
M. Yunus Seker, Shobhit Aggarwal, Oliver Kroemer
Transferring skills between different objects remains one of the core challenges of open-world robot manipulation. Generalization needs to take into account the high-level structur…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
Optimal Interactive Learning on the Job via Facility Location Planning
Shivam Vats, Michelle Zhao, Patrick Callaghan +4
Collaborative robots must continually adapt to novel tasks and user preferences without overburdening the user. While prior interactive robot learning methods aim to reduce human e…
GraphSeg: Segmented 3D Representations via Graph Edge Addition and Contraction
Haozhan Tang, Tianyi Zhang, Oliver Kroemer +2
Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the rob…
SonicBoom: Contact Localization Using Array of Microphones
Moonyoung Lee, Uksang Yoo, Jean Oh +3
In cluttered environments where visual sensors encounter heavy occlusion, such as in agricultural settings, tactile signals can provide crucial spatial information for the robot to…
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
Charles Xu, Qiyang Li, Jianlan Luo +1
Recent advances in robotic foundation models have enabled the development of generalist policies that can adapt to diverse tasks. While these models show impressive flexibility, th…
Autonomous Sensor Exchange and Calibration for Cornstalk Nitrate Monitoring Robot
Janice Seungyeon Lee, Thomas Detlefsen, Shara Lawande +5
Interactive sensors are an important component of robotic systems but often require manual replacement due to wear and tear. Automating this process can enhance system autonomy and…
RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation
Shivam Vats, Devesh K. Jha, Maxim Likhachev +2
Model-based planners and controllers are commonly used to solve complex manipulation problems as they can efficiently optimize diverse objectives and generalize to long horizon tas…
Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand
Zilin Si, Kevin Lee Zhang, Zeynep Temel +1
Dexterous robotic manipulation remains a challenging domain due to its strict demands for precision and robustness on both hardware and software. While dexterous robotic hands have…
Leveraging Simulation-Based Model Preconditions for Fast Action Parameter Optimization with Multiple Models
M. Yunus Seker, Oliver Kroemer
Optimizing robotic action parameters is a significant challenge for manipulation tasks that demand high levels of precision and generalization. Using a model-based approach, the ro…
Hefty: A Modular Reconfigurable Robot for Advancing Robot Manipulation in Agriculture
Dominic Guri, Moonyoung Lee, Oliver Kroemer +1
This paper presents a modular, reconfigurable robot platform for robot manipulation in agriculture. While robot manipulation promises great advancements in automating challenging,…
MResT: Multi-Resolution Sensing for Real-Time Control with Vision-Language Models
Saumya Saxena, Mohit Sharma, Oliver Kroemer
Leveraging sensing modalities across diverse spatial and temporal resolutions can improve performance of robotic manipulation tasks. Multi-spatial resolution sensing provides hiera…
Task-Oriented Active Learning of Model Preconditions for Inaccurate Dynamics Models
Alex LaGrassa, Moonyoung Lee, Oliver Kroemer
When planning with an inaccurate dynamics model, a practical strategy is to restrict planning to regions of state-action space where the model is accurate: also known as a \textit{…
Towards Robotic Tree Manipulation: Leveraging Graph Representations
Chung Hee Kim, Moonyoung Lee, Oliver Kroemer +1
There is growing interest in automating agricultural tasks that require intricate and precise interaction with specialty crops, such as trees and vines. However, developing robotic…
Towards Autonomous Crop Monitoring: Inserting Sensors in Cluttered Environments
Moonyoung Lee, Aaron Berger, Dominic Guri +4
We present a contact-based phenotyping robot platform that can autonomously insert nitrate sensors into cornstalks to proactively monitor macronutrient levels in crops. This task i…
Estimating Material Properties of Interacting Objects Using Sum-GP-UCB
M. Yunus Seker, Oliver Kroemer
Robots need to estimate the material and dynamic properties of objects from observations in order to simulate them accurately. We present a Bayesian optimization approach to identi…