5 papers
Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations
Nataliya Nechyporenko, Ava Abderezaei, Alessandro Roncone
Contact planning in robotics requires models that are both computationally efficient and physically accurate. Sphere-based robot representations satisfy the first requirement by en…
Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation
Ava Abderezaei, Nataliya Nechyporenko, Joseph Miceli +2
Robotics demands simulation that can reason about the diversity of real-world physical interactions, from rigid to deformable objects and fluids. Current simulators address this by…
Towards Zero-Shot Coordination between Teams of Agents: The N-XPlay Framework
Ava Abderezaei, Chi-Hui Lin, Joseph Miceli +4
Zero-shot coordination (ZSC) -- the ability to collaborate with unfamiliar partners -- is essential to making autonomous agents effective teammates. Existing ZSC methods evaluate c…
Exploring How Non-Prehensile Manipulation Expands Capability in Robots Experiencing Multi-Joint Failure
Gilberto Briscoe-Martinez, Anuj Pasricha, Ava Abderezaei +4
This work explores non-prehensile manipulation (NPM) and whole-body interaction as strategies for enabling robotic manipulators to conduct manipulation tasks despite experiencing l…
Clutter-Aware Spill-Free Liquid Transport via Learned Dynamics
Ava Abderezaei, Anuj Pasricha, Alex Klausenstock +1
In this work, we present a novel algorithm to perform spill-free handling of open-top liquid-filled containers that operates in cluttered environments. By allowing liquid-filled co…