4 papers
CoRAL: Contact-Rich Adaptive LLM-based Control for Robotic Manipulation
Berk Ãiçek, Mert K. Er, Ozgur S. Oguz
While Large Language Models (LLMs) and Vision-Language Models (VLMs) demonstrate remarkable capabilities in high-level reasoning and semantic understanding, applying them directly…
Push, Press, Slide: Mode-Aware Planar Contact Manipulation via Reduced-Order Models
Melih Ãzcan, Umut Orguner, Ozgur S. Oguz
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under…
MO-SeGMan: Rearrangement Planning Framework for Multi Objective Sequential and Guided Manipulation in Constrained Environments
Cankut Bora Tuncer, Marc Toussaint, Ozgur S. Oguz
In this work, we introduce MO-SeGMan, a Multi-Objective Sequential and Guided Manipulation planner for highly constrained rearrangement problems. MO-SeGMan generates object placeme…
An Optimization-Augmented Control Framework for Single and Coordinated Multi-Arm Robotic Manipulation
Melih Ãzcan, Ozgur S. Oguz
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequen…