5 papers
Learning Diffusion Policies for Robotic Manipulation of Timber Joinery under Fabrication Uncertainty
Salma Mozaffari, Daniel Ruan, William van den Bogert +3
Fabrication uncertainty arising from tolerance accumulation, material imperfection, and positioning errors remains a critical barrier to automated robotic assembly in construction,…
GrOMP: Grasped Object Manifold Projection for Multimodal Imitation Learning of Manipulation
William van den Bogert, Gregory Linkowski, Nima Fazeli
Imitation Learning (IL) holds great potential for learning repetitive manipulation tasks, such as those in industrial assembly. However, its effectiveness is often limited by insuf…
Built Different: Tactile Perception to Overcome Cross-Embodiment Capability Differences in Collaborative Manipulation
William van den Bogert, Madhavan Iyengar, Nima Fazeli
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between r…
Contrastive Touch-to-Touch Pretraining
Samanta Rodriguez, Yiming Dou, William van den Bogert +4
Today's tactile sensors have a variety of different designs, making it challenging to develop general-purpose methods for processing touch signals. In this paper, we learn a unifie…
GelSlim 4.0: Focusing on Touch and Reproducibility
Andrea Sipos, William van den Bogert, Nima Fazeli
Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based ta…