24 citations · 69 across the 14 of their papers we have counts for
6 papers · 1 filter
Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies
Carolina Higuera, Joseph Ortiz, Haozhi Qi +3
Robotic manipulation tasks such as object insertion typically involve interactions between object and environment, namely extrinsic contacts. Prior work on Neural Contact Fields (N…
Continuous Versatile Jumping Using Learned Action Residuals
Yuxiang Yang, Xiangyun Meng, Wenhao Yu +3
Jumping is essential for legged robots to traverse through difficult terrains. In this work, we propose a hierarchical framework that combines optimal control and reinforcement lea…
Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models
Carolina Higuera, Byron Boots, Mustafa Mukadam
Simulating vision-based tactile sensors enables learning models for contact-rich tasks when collecting real world data at scale can be prohibitive. However, modeling the optical re…
TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation
Xiangyun Meng, Nathan Hatch, Alexander Lambert +11
Effective use of camera-based vision systems is essential for robust performance in autonomous off-road driving, particularly in the high-speed regime. Despite success in structure…
4D Crop Monitoring: Spatio-Temporal Reconstruction for Agriculture
Jing Dong, John Gary Burnham, Byron Boots +2
Autonomous crop monitoring at high spatial and temporal resolution is a critical problem in precision agriculture. While Structure from Motion and Multi-View Stereo algorithms can…
Adaptive Probabilistic Trajectory Optimization via Efficient Approximate Inference
Yunpeng Pan, Xinyan Yan, Evangelos Theodorou +1
Robotic systems must be able to quickly and robustly make decisions when operating in uncertain and dynamic environments. While Reinforcement Learning (RL) can be used to compute o…