6 papers
Real2Sem2Real: 3D Semantic Augmentations for Robot Learning from a Single Human RGB Demonstration
Matthew Strong, Ankush K. Dhawan, Julien Poffet +3
Human video scales easily and does not need robot hardware, but existing methods require depth sensing, overlay the robot onto 2D video, or generate data only for the demonstrated…
VisTacAlign: Co-Training Dexterous Policies on Tactile Human and Robot Demonstrations using Visual-Tactile Alignment
Julien Poffet, Matthew Strong, Ankush Dhawan +5
Human demonstrations are a cheap source of data for dexterous manipulation, but co-training a robot policy on them requires closing the human--robot gap in every modality the polic…
SPROUT: The Open-Source Soft Growing Robot for Search and Rescue
Antonio Alvarez Valdivia, Ciera McFarland, Robert Reeve +5
Soft robotic systems have long been theorized as ideal candidates for use in search and rescue operations; however, there have been significant barriers to entry in graduating soft…
Gotta Grow Fast: Design and Benchmarking of a Tip Mount for High-Speed Vine Robots
Antonio Alvarez Valdivia, Robert Reeve, Ankush Dhawan +4
Soft, growing vine robots extend through tip eversion, a mechanism that enables navigation through cluttered environments. However, integrating cameras and other sensors at the tip…
Field Insights for Portable Vine Robots in Urban Search and Rescue
Ciera McFarland, Ankush Dhawan, Riya Kumari +3
Soft, growing vine robots are well-suited for exploring cluttered, unknown environments, and are theorized to be performant during structural collapse incidents caused by earthquak…
Dynamic Layer Detection of Thin Materials using DenseTact Optical Tactile Sensors
Ankush Kundan Dhawan, Camille Chungyoun, Karina Ting +1
Manipulation of thin materials is critical for many everyday tasks and remains a significant challenge for robots. While existing research has made strides in tasks like material s…