1 citations · 2 across the 9 of their papers we have counts for
8 papers · 1 filter
Real2Sem2Real: 3D Semantic Augmentations for Robot Learning from a Single Human RGB Demonstration
Matthew Strong, Ankush K. Dhawan, Julien Poffet +3
Human video scales easily and does not need robot hardware, but existing methods require depth sensing, overlay the robot onto 2D video, or generate data only for the demonstrated…
VisTacAlign: Co-Training Dexterous Policies on Tactile Human and Robot Demonstrations using Visual-Tactile Alignment
Julien Poffet, Matthew Strong, Ankush Dhawan +5
Human demonstrations are a cheap source of data for dexterous manipulation, but co-training a robot policy on them requires closing the human--robot gap in every modality the polic…
DexFruit: Dexterous Manipulation and Gaussian Splatting Inspection of Fruit
Aiden Swann, Alex Qiu, Matthew Strong +4
DexFruit is a robotic manipulation framework that enables gentle, autonomous handling of fragile fruit and precise evaluation of damage. Many fruits are fragile and prone to bruisi…
TensorTouch: Calibration of Tactile Sensors for High Resolution Stress Tensor and Deformation for Dexterous Manipulation
Won Kyung Do, Matthew Strong, Aiden Swann +2
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains cha…
J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators
Shivani Guptasarma, Matthew Strong, Honghao Zhen +1
J-PARSE is an algorithm for smooth first-order inverse kinematic control of a serial manipulator near kinematic singularities. The commanded end-effector velocity is interpreted co…
Next Best Sense: Guiding Vision and Touch with FisherRF for 3D Gaussian Splatting
Matthew Strong, Boshu Lei, Aiden Swann +3
We propose a framework for active next best view and touch selection for robotic manipulators using 3D Gaussian Splatting (3DGS). 3DGS is emerging as a useful explicit 3D scene rep…
Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting
Aiden Swann, Matthew Strong, Won Kyung Do +3
In this work, we propose a novel method to supervise 3D Gaussian Splatting (3DGS) scenes using optical tactile sensors. Optical tactile sensors have become widespread in their use…
SHIRO: Soft Hierarchical Reinforcement Learning
Kandai Watanabe, Mathew Strong, Omer Eldar
Hierarchical Reinforcement Learning (HRL) algorithms have been demonstrated to perform well on high-dimensional decision making and robotic control tasks. However, because they sol…