33 citations · 180 across the 59 of their papers we have counts for
8 papers · 2 filters
Sample-Efficient Learning of Nonprehensile Manipulation Policies via Physics-Based Informed State Distributions
Lerrel Pinto, Aditya Mandalika, Brian Hou +1
This paper proposes a sample-efficient yet simple approach to learning closed-loop policies for nonprehensile manipulation. Although reinforcement learning (RL) can learn closed-lo…
Bayesian Policy Optimization for Model Uncertainty
Gilwoo Lee, Brian Hou, Aditya Mandalika +3
Addressing uncertainty is critical for autonomous systems to robustly adapt to the real world. We formulate the problem of model uncertainty as a continuous Bayes-Adaptive Markov D…
Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry
Patrick E. Lancaster, Joshua R. Smith, Siddhartha S. Srinivasa
We describe a single fingertip-mounted sensing system for robot manipulation that provides proximity (pre-touch), contact detection (touch), and force sensing (post-touch). The sen…
HARMONIC: A Multimodal Dataset of Assistive Human-Robot Collaboration
Benjamin A. Newman, Reuben M. Aronson, Siddartha S. Srinivasa +2
We present the Human And Robot Multimodal Observations of Natural Interactive Collaboration (HARMONIC) data set. This is a large multimodal data set of human interactions with a ro…
Balancing Shared Autonomy with Human-Robot Communication
Rosario Scalise, Yonatan Bisk, Maxwell Forbes +3
Robotic agents that share autonomy with a human should leverage human domain knowledge and account for their preferences when completing a task. This extra knowledge can dramatical…
Towards Robotic Feeding: Role of Haptics in Fork-based Food Manipulation
Tapomayukh Bhattacharjee, Gilwoo Lee, Hanjun Song +1
Autonomous feeding is challenging because it requires manipulation of food items with various compliance, sizes, and shapes. To understand how humans manipulate food items during f…