80 citations · 200 across the 22 of their papers we have counts for
48 papers
Deformable Cargo Transport in Microgravity with Astrobee
Daniel Morton, Rika Antonova, Brian Coltin +2
We present pyastrobee: a simulation environment and control stack for Astrobee in Python, with an emphasis on cargo manipulation and transport tasks. We also demonstrate preliminar…
Shadow: Leveraging Segmentation Masks for Cross-Embodiment Policy Transfer
Marion Lepert, Ria Doshi, Jeannette Bohg
Data collection in robotics is spread across diverse hardware, and this variation will increase as new hardware is developed. Effective use of this growing body of data requires me…
Force-Aware Autonomous Robotic Surgery
Alaa Eldin Abdelaal, Jiaying Fang, Tim N. Reinhart +4
This work demonstrates the benefits of using tool-tissue interaction forces in the design of autonomous systems in robot-assisted surgery (RAS). Autonomous systems in surgery must…
DexForce: Extracting Force-informed Actions from Kinesthetic Demonstrations for Dexterous Manipulation
Claire Chen, Zhongchun Yu, Hojung Choi +2
Imitation learning requires high-quality demonstrations consisting of sequences of state-action pairs. For contact-rich dexterous manipulation tasks that require dexterity, the act…
TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning
Jimmy Wu, William Chong, Robert Holmberg +6
Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper prop…
What's the Move? Hybrid Imitation Learning via Salient Points
Priya Sundaresan, Hengyuan Hu, Quan Vuong +2
While imitation learning (IL) offers a promising framework for teaching robots various behaviors, learning complex tasks remains challenging. Existing IL policies struggle to gener…