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