59 citations · 457 across the 92 of their papers we have counts for
5 papers · 2 filters
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…