59 citations · 457 across the 92 of their papers we have counts for
53 papers · 1 filter
ContactKernels: Adaptive Proposals using Geometry-COnditioned Wrenches for Contact-Rich Manipulation
Aditya Kamireddypalli, Matías Mattamala, João Moura +3
Contact-rich insertion requires precise geometric alignment despite uncertainty in perception, geometry, and con- trol. When this uncertainty causes unintended contact, the re- sul…
Decoupled Early Exits for Task-Dependent Compute Allocation in Flow-Matching VLAs
Riccardo Andrea Izzo, Rimvydas Rubavicius, Gianluca Bardaro +3
Flow-matching Vision-Language-Action (VLA) models have emerged as a potential solution for generalist robot control, designed by combining a pretrained Vision-Language Model (VLM)…
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…
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…
Posterior-driven Heuristic Support Adaptation in a Probabilistic Treatment of Real2Sim2Real for Vision-Driven Deformable Linear Object Manipulation
Georgios Kamaras, Craig Innes, Subramanian Ramamoorthy
Likelihood-free inference (LFI) enables system identification in complex tasks via black-box modelling, abstracting nonlinearity and stochasticity, and infers a domain distribution…
ROOM: A Physics-Based Continuum Robot Simulator for Photorealistic Medical Datasets Generation
Salvatore Esposito, Matías 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…
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…
ContactFusion: Stochastic Poisson Surface Maps from Visual and Contact Sensing
Aditya Kamireddypalli, Joao Moura, Russell Buchanan +3
Robust and precise robotic assembly entails insertion of constituent components. Insertion success is hindered when noise in scene understanding exceeds tolerance limits, especiall…
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…
SECURE: Semantics-aware Embodied Conversation under Unawareness for Lifelong Robot Learning
Rimvydas Rubavicius, Peter David Fagan, Alex Lascarides +1
This paper addresses a challenging interactive task learning scenario we call rearrangement under unawareness: an agent must manipulate a rigid-body environment without knowing a k…
Adaptive Splitting of Reusable Temporal Monitors for Rare Traffic Violations
Craig Innes, Subramanian Ramamoorthy
Autonomous Vehicles (AVs) are often tested in simulation to estimate the probability they will violate safety specifications. Two common issues arise when using existing techniques…
Click to Grasp: Zero-Shot Precise Manipulation via Visual Diffusion Descriptors
Nikolaos Tsagkas, Jack Rome, Subramanian Ramamoorthy +2
Precise manipulation that is generalizable across scenes and objects remains a persistent challenge in robotics. Current approaches for this task heavily depend on having a signifi…
Generating robotic elliptical excisions with human-like tool-tissue interactions
Arturas Straizys, Michael Burke, Subramanian Ramamoorthy
In surgery, the application of appropriate force levels is critical for the success and safety of a given procedure. While many studies are focused on measuring in situ forces, lit…
DiPA: Probabilistic Multi-Modal Interactive Prediction for Autonomous Driving
Anthony Knittel, Majd Hawasly, Stefano V. Albrecht +2
Accurate prediction is important for operating an autonomous vehicle in interactive scenarios. Prediction must be fast, to support multiple requests from a planner exploring a rang…
Learning robotic cutting from demonstration: Non-holonomic DMPs using the Udwadia-Kalaba method
Artūras Straižys, Michael Burke, Subramanian Ramamoorthy
Dynamic Movement Primitives (DMPs) offer great versatility for encoding, generating and adapting complex end-effector trajectories. DMPs are also very well suited to learning manip…
Testing Rare Downstream Safety Violations via Upstream Adaptive Sampling of Perception Error Models
Craig Innes, Subramanian Ramamoorthy
Testing black-box perceptual-control systems in simulation faces two difficulties. Firstly, perceptual inputs in simulation lack the fidelity of real-world sensor inputs. Secondly,…
Perspectives on the System-level Design of a Safe Autonomous Driving Stack
Majd Hawasly, Jonathan Sadeghi, Morris Antonello +3
Achieving safe and robust autonomy is the key bottleneck on the path towards broader adoption of autonomous vehicles technology. This motivates going beyond extrinsic metrics such…
A Novel Design and Evaluation of a Dactylus-Equipped Quadruped Robot for Mobile Manipulation
Yordan Tsvetkov, Subramanian Ramamoorthy
Quadruped robots are usually equipped with additional arms for manipulation, negatively impacting price and weight. On the other hand, the requirements of legged locomotion mean th…
Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics
Carlo Tiseo, Quentin Rouxel, Martin Asenov +4
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the pa…
Risk-Driven Design of Perception Systems
Anthony L. Corso, Sydney M. Katz, Craig Innes +3
Modern autonomous systems rely on perception modules to process complex sensor measurements into state estimates. These estimates are then passed to a controller, which uses them t…
Flash: Fast and Light Motion Prediction for Autonomous Driving with Bayesian Inverse Planning and Learned Motion Profiles
Morris Antonello, Mihai Dobre, Stefano V. Albrecht +2
Motion prediction of road users in traffic scenes is critical for autonomous driving systems that must take safe and robust decisions in complex dynamic environments. We present a…
Learning physics-informed simulation models for soft robotic manipulation: A case study with dielectric elastomer actuators
Manu Lahariya, Craig Innes, Chris Develder +1
Soft actuators offer a safe, adaptable approach to tasks like gentle grasping and dexterous manipulation. Creating accurate models to control such systems however is challenging du…
Automated Testing with Temporal Logic Specifications for Robotic Controllers using Adaptive Experiment Design
Craig Innes, Subramanian Ramamoorthy
Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of "black-box" components with u…
Attainment Regions in Feature-Parameter Space for High-Level Debugging in Autonomous Robots
Simón C. Smith, Subramanian Ramamoorthy
Understanding a controller's performance in different scenarios is crucial for robots that are going to be deployed in safety-critical tasks. If we do not have a model of the dynam…