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cs.RO2023
Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation
Sudharshan Suresh, Haozhi Qi, Tingfan Wu +9
To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, suc…
cs.RO2023
Learning Covariances for Estimation with Constrained Bilevel Optimization
Mohamad Qadri, Zachary Manchester, Michael Kaess
We consider the problem of learning error covariance matrices for robotic state estimation. The convergence of a state estimator to the correct belief over the robot state is depen…
cs.RO2023
Learning Observation Models with Incremental Non-Differentiable Graph Optimizers in the Loop for Robotics State Estimation
Mohamad Qadri, Michael Kaess
We consider the problem of learning observation models for robot state estimation with incremental non-differentiable optimizers in the loop. Convergence to the correct belief over…