52 citations · 135 across the 55 of their papers we have counts for
7 papers · 1 filter
Parameter Estimation on Homogeneous Spaces
Shiraz Khan, Gregory S. Chirikjian
The Fisher Information Metric (FIM) and the associated Cramér-Rao Bound (CRB) are fundamental tools in statistical signal processing, which inform the efficient design of experimen…
RaggeDi: Diffusion-based State Estimation of Disordered Rags, Sheets, Towels and Blankets
Jikai Ye, Wanze Li, Shiraz Khan +1
Cloth state estimation is an important problem in robotics. It is essential for the robot to know the accurate state to manipulate cloth and execute tasks such as robotic dressing,…
Grasping by Hanging: a Learning-Free Grasping Detection Method for Previously Unseen Objects
Wanze Li, Wan Su, Gregory S. Chirikjian
This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first ident…
Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots
Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pa…
Non-Abelian Fourier Analysis on
Arash Ghaani Farashahi, Gregory S. Chirikjian
This paper presents a systematic study for the general theory of non-Abelian Fourier series of integrable functions on the homogeneous space , where $SE(d…
RAIL: Robot Affordance Imagination with Large Language Models
Ceng Zhang, Xin Meng, Dongchen Qi +1
This paper introduces an automatic affordance reasoning paradigm tailored to minimal semantic inputs, addressing the critical challenges of classifying and manipulating unseen clas…
Uncertainty Propagation and Bayesian Fusion on Unimodular Lie Groups from a Parametric Perspective
Jikai Ye, Gregory S. Chirikjian
We address the problem of uncertainty propagation and Bayesian fusion on unimodular Lie groups. Starting from a stochastic differential equation (SDE) defined on Lie groups via Mck…