3 citations · 5 across the 8 of their papers we have counts for
8 papers
Tabletop Pen Manipulation With a Vision-Guided 4-DoF Arm
Anirudh Rangarajan, Bibit Bianchini
Low-cost four-degree-of-freedom (DoF) arms are among the most accessible robotic platforms. But they are, in theory, underactuated for picking up in situations where objects are at…
Push Anything: Single- and Multi-Object Pushing From First Sight with Contact-Implicit MPC
Hien Bui, Yufeiyang Gao, Haoran Yang +6
Non-prehensile manipulation of diverse objects remains a core challenge in robotics, driven by unknown physical properties and the complexity of contact-rich interactions. Recent a…
Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity
Sharanya Venkatesh, Bibit Bianchini, Alp Aydinoglu +2
To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimiz…
Vysics: Object Reconstruction Under Occlusion by Fusing Vision and Contact-Rich Physics
Bibit Bianchini, Minghan Zhu, Mengti Sun +3
We introduce Vysics, a vision-and-physics framework for a robot to build an expressive geometry and dynamics model of a single rigid body, using a seconds-long RGBD video and the r…
Simultaneous Learning of Contact and Continuous Dynamics
Bibit Bianchini, Mathew Halm, Michael Posa
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they…
Instance-Agnostic Geometry and Contact Dynamics Learning
Mengti Sun, Bowen Jiang, Bibit Bianchini +2
This work presents an instance-agnostic learning framework that fuses vision with dynamics to simultaneously learn shape, pose trajectories, and physical properties via the use of…
Generalization Bounded Implicit Learning of Nearly Discontinuous Functions
Bibit Bianchini, Mathew Halm, Nikolai Matni +1
Inspired by recent strides in empirical efficacy of implicit learning in many robotics tasks, we seek to understand the theoretical benefits of implicit formulations in the face of…
Towards Human Haptic Gesture Interpretation for Robotic Systems
Bibit Bianchini, Prateek Verma, Kenneth Salisbury
Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic sys…