1 citations · 3 across the 9 of their papers we have counts for
11 papers
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…
DOT-Sim: Differentiable Optical Tactile Simulation with Precise Real-to-Sim Physical Calibration
Yang You, Won Kyung Do, Aiden Swann +3
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically…
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…
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…
SAFER-Splat: A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps
Timothy Chen, Aiden Swann, Javier Yu +4
SAFER-Splat (Simultaneous Action Filtering and Environment Reconstruction) is a real-time, scalable, and minimally invasive action filter, based on control barrier functions, for s…
Dynamic Layer Detection of Thin Materials using DenseTact Optical Tactile Sensors
Ankush Kundan Dhawan, Camille Chungyoun, Karina Ting +1
Manipulation of thin materials is critical for many everyday tasks and remains a significant challenge for robots. While existing research has made strides in tasks like material s…
Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
Ola Shorinwa, Johnathan Tucker, Aliyah Smith +5
We present Splat-MOVER, a modular robotics stack for open-vocabulary robotic manipulation, which leverages the editability of Gaussian Splatting (GSplat) scene representations to e…
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…
DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects From Flat Surfaces
Won Kyung Do, Ankush Kundan Dhawan, Mathilda Kitzmann +1
Dexterous manipulation, especially of small daily objects, continues to pose complex challenges in robotics. This paper introduces the DenseTact-Mini, an optical tactile sensor wit…