36 citations · 271 across the 74 of their papers we have counts for
9 papers · 1 filter
Online Estimation of Articulated Objects with Factor Graphs using Vision and Proprioceptive Sensing
Russell Buchanan, Adrian Röfer, João Moura +2
From dishwashers to cabinets, humans interact with articulated objects every day, and for a robot to assist in common manipulation tasks, it must learn a representation of articula…
Few-Shot Learning of Force-Based Motions From Demonstration Through Pre-training of Haptic Representation
Marina Y. Aoyama, João Moura, Namiko Saito +1
In many contact-rich tasks, force sensing plays an essential role in adapting the motion to the physical properties of the manipulated object. To enable robots to capture the under…
Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration
Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar
Developing robot controllers capable of achieving dexterous nonprehensile manipulation, such as pushing an object on a table, is challenging. The underactuated and hybrid-dynamics…
A behavioural transformer for effective collaboration between a robot and a non-stationary human
Ruaridh Mon-Williams, Theodoros Stouraitis, Sethu Vijayakumar
A key challenge in human-robot collaboration is the non-stationarity created by humans due to changes in their behaviour. This alters environmental transitions and hinders human-ro…
Online Multi-Contact Receding Horizon Planning via Value Function Approximation
Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono +8
Planning multi-contact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large o…
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Thomas Corbères, Carlos Mastalli, Wolfgang Merkt +6
Real-time synthesis of legged locomotion maneuvers in challenging industrial settings is still an open problem, requiring simultaneous determination of footsteps locations several…