From the 1 of 40 linked papers with an AI index.
17 papers · 1 filter
Deformable State Estimation for Autonomous Surgical Tissue Retraction Under Partial Observability
Everest Yang, Skye Thompson, George D. Konidaris
The paper presents a learned estimator that reconstructs the full shape of a deformable tissue mesh from a small set of noisy surface points, enabling more accurate planning for su…
Deform360: A Massive Multi-view Visuotactile Dataset for Deformable World Models
Hongyu Li, Wanjia Fu, Xiaoyan Cong +11
Predicting object dynamics (i.e., world modeling) is a fundamental challenge for robotic manipulation, and modeling deformable objects presents a particularly difficult case due to…
SkillWrapper: Generative Predicate Invention for Task-level Robot Planning
Ziyi Yang, Benned Hedegaard, Ahmed Jaafar +8
Generalizing from individual skill executions to long-horizon tasks is a core challenge in building autonomous robots. A promising direction is learning high-level, symbolic repres…
Jointly Learning Predicates and Actions Enables Zero-Shot Skill Composition
Benedict Quartey, Sebastian Castro, Eric Rosen +3
Learning from Demonstration (LfD) enables robots to learn complex behaviors from expert examples, yet existing approaches often fail to generalize to new compositions of known skil…
Creative Robot Tool Use by Counterfactual Reasoning
M. Tuluhan Akbulut, Varun Satheesh, Ahmed Jaafar +5
We propose a causal reasoning framework for creative robot tool use where a suitable tool for a task is correctly identified for use beyond its primary objectives. The proposed fra…
Learning Equivariant Neural-Augmented Object Dynamics From Few Interactions
Sergio Orozco, Tushar Kusnur, Brandon May +2
Learning data-efficient object dynamics models for robotic manipulation remains challenging, especially for deformable objects. A popular approach is to model objects as sets of 3D…