From the 1 of 23 linked papers with an AI index.
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BayesContact: Uncertain Pose Estimation via Visuo-Tactile Proposals and Simulation-based Inference
Aditya Kamireddypalli, Matias Mattamala, Joao Moura +3
Contact-rich manipulation requires pose estimates that are often more accurate than what depth-only sensing provides. Existing methods, relying on vision and contact, employ costly…
ROOM: A Physics-Based Continuum Robot Simulator for Photorealistic Medical Datasets Generation
Salvatore Esposito, MatÃas Mattamala, Daniel Rebain +4
Continuum robots are advancing bronchoscopy procedures by accessing complex lung airways and enabling targeted interventions. However, their development is limited by the lack of r…
A Distributional Treatment of Real2Sim2Real for Object-Centric Agent Adaptation in Vision-Driven Deformable Linear Object Manipulation
Georgios Kamaras, Subramanian Ramamoorthy
We present an integrated (or end-to-end) framework for the Real2Sim2Real problem of manipulating deformable linear objects (DLOs) based on visual perception. Working with a paramet…
Heuristic Adaptation of Potentially Misspecified Domain Support for Likelihood-Free Inference in Stochastic Dynamical Systems
Georgios Kamaras, Craig Innes, Subramanian Ramamoorthy
In robotics, likelihood-free inference (LFI) can provide the domain distribution that adapts a learnt agent in a parametric set of deployment conditions. LFI assumes an arbitrary s…
Learning to unfold cloth: Scaling up world models to deformable object manipulation
Jack Rome, Stephen James, Subramanian Ramamoorthy
Learning to manipulate cloth is both a paradigmatic problem for robotic research and a problem of immediate relevance to a variety of applications ranging from assistive care to th…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…