3 papers
cs.RO2025
CADRE: Dynamic Catching via Implicit Contact Descriptors and Task-Appropriate Recovery Affordances
Fan Yang, Zixuan Huang, Abhinav Kumar +4
Real-world dexterous manipulation often encounters unexpected errors and disturbances, which can lead to catastrophic failures, such as dropping the manipulated object. To address…
cs.RO2025
CoRI: Communication of Robot Intent for Physical Human-Robot Interaction
Junxiang Wang, Emek Barış Küçüktabak, Rana Soltani Zarrin +1
Clear communication of robot intent fosters transparency and interpretability in physical human-robot interaction (pHRI), particularly during assistive tasks involving direct human…
cs.RO2024
Multi-finger Manipulation via Trajectory Optimization with Differentiable Rolling and Geometric Constraints
Fan Yang, Thomas Power, Sergio Aguilera Marinovic +3
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In con…