96 citations · 267 across the 31 of their papers we have counts for
10 papers · 1 filter
Relational Learning for Skill Preconditions
Mohit Sharma, Oliver Kroemer
To determine if a skill can be executed in any given environment, a robot needs to learn the preconditions for the skill. As robots begin to operate in dynamic and unstructured env…
Visual Identification of Articulated Object Parts
Vicky Zeng, Tabitha Edith Lee, Jacky Liang +1
As autonomous robots interact and navigate around real-world environments such as homes, it is useful to reliably identify and manipulate articulated objects, such as doors and cab…
Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation
Mohit Sharma, Jacky Liang, Jialiang Zhao +2
Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e.g., sliding an object to a goal pose while maintaining contact with a table. Individual s…
Towards Robotic Assembly by Predicting Robust, Precise and Task-oriented Grasps
Jialiang Zhao, Daniel Troniak, Oliver Kroemer
Robust task-oriented grasp planning is vital for autonomous robotic precision assembly tasks. Knowledge of the objects' geometry and preconditions of the target task should be inco…
A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy
Kevin Zhang, Mohit Sharma, Jacky Liang +1
We designed a modular robotic control stack that provides a customizable and accessible interface to the Franka Emika Panda Research robot. This framework abstracts high-level robo…
Contact Localization for Robot Arms in Motion without Torque Sensing
Jacky Liang, Oliver Kroemer
Detecting and localizing contacts is essential for robot manipulators to perform contact-rich tasks in unstructured environments. While robot skins can localize contacts on the sur…
Learning Skills to Patch Plans Based on Inaccurate Models
Alex LaGrassa, Steven Lee, Oliver Kroemer
Planners using accurate models can be effective for accomplishing manipulation tasks in the real world, but are typically highly specialized and require significant fine-tuning to…
Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap
Jacky Liang, Saumya Saxena, Oliver Kroemer
Training robotic policies in simulation suffers from the sim-to-real gap, as simulated dynamics can be different from real-world dynamics. Past works tackled this problem through d…
Multi-modal Transfer Learning for Grasping Transparent and Specular Objects
Thomas Weng, Amith Pallankize, Yimin Tang +2
State-of-the-art object grasping methods rely on depth sensing to plan robust grasps, but commercially available depth sensors fail to detect transparent and specular objects. To i…
In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation
Jacky Liang, Ankur Handa, Karl Van Wyk +3
Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored…