103 citations · 106 across the 23 of their papers we have counts for
9 papers · 1 filter
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{…