2 citations · 2 across the 8 of their papers we have counts for
10 papers · 1 filter
Policy-Calibrated DAgger: Offline Calibrated Noise Injection for Imitation Learning
Jenny Wang, George Kantor
Policies trained with imitation learning can accumulate errors over time, causing the robot to drift outside the training distribution. Existing methods mitigate this covariate shi…
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…
ODE Methods for Computing One-Dimensional Self-Motion Manifolds
Dominic Guri, George Kantor
Redundant manipulators are well understood to offer infinite joint configurations for achieving a desired end-effector pose. The multiplicity of inverse kinematics (IK) solutions a…
A Systematic Robot Design Optimization Methodology with Application to Redundant Dual-Arm Manipulators
Dominic Guri, George Kantor
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in comple…
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…
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…
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…
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,…
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…