27 citations · 44 across the 48 of their papers we have counts for
38 papers · 1 filter
AGRO-SUVIDE: Agentic Robotics for Surgical Viscoelastic Debridement
Shutong Jin, Ziyang Chen, Preethi Satish +5
Augmented dexterity has the potential to reduce the fatigue experienced by surgeons during repetitive surgical tasks. In this paper, we propose the first AGentic RObotics framework…
Localized Visual Feature Aggregation via Focus Pooling for Visuomotor Policies
Ruiyu Wang, Zheyu Zhuang, Danica Kragic +1
Focusing on spatially localized, control-relevant visual cues has been shown to improve data efficiency in visuomotor policies by reducing the need to model task-irrelevant visual…
Attention from Action, for Action: Emergent Visual Bottlenecks for Policy Learning
Zheyu Zhuang, Ruiyu Wang, Nick Heppert +4
Visual bottlenecks that focus policy inputs on regions of interest (ROIs) can improve data-efficient visuomotor learning by separating where to look from how to act. Many ROI inter…
Robustness of Robotic Manipulation: Foundations and Frontiers
Yifei Dong, Zhanyi Sun, Lujie Yang +5
Humans and animals exhibit remarkable robustness in physical manipulation, yet robots remain far behind. Progress toward human-level manipulation robustness is hindered by the abse…
Physics-Informed Eikonal Caging for Whole-Arm Manipulation Planning
Yan Zhang, Yiming Li, Yifei Dong +2
Planning contact-rich whole-arm manipulation is challenging because interactions that involve extended robot geometry give rise to complex contact dynamics that are difficult to mo…
MirrorDuo: Reflection-Consistent Visuomotor Learning from Mirrored Demonstration Pairs
Zheyu Zhuang, Ruiyu Wang, Giovanni Luca Marchetti +2
Image-based behaviour cloning leverages demonstrations captured from ubiquitous RGB cameras. However, it remains constrained by the cost of collecting diverse demos, especially for…
Fibration Trees: A Unified Approach to Multi-Robot Motion Planning
Andreas Orthey, Florian T. Pokorny, Lydia E. Kavraki
State space projections and decompositions have emerged as powerful tools to tackle the curse of dimensionality in high-dimensional, multi-robot motion planning problems. However,…
Adversarial Vulnerabilities of Learned Telesurgery Policies
Shutong Jin, Ziyang Chen, Preethi Satish +3
While not yet in clinical deployment, learning-based policies are increasingly considered to augment the dexterity of human surgeons in robot-assisted surgery. Can the end-to-end m…
MoDex: A Diffusion Policy for Sequential Multi-Object Dexterous Grasping
Haofei Lu, Hongjia Liu, Yifei Dong +3
This work addresses sequentially grasping multiple objects with a single dexterous hand without releasing those already held. Most dexterous grasping methods commit all of the hand…
Speculative Policy Orchestration: A Latency-Resilient Framework for Cloud-Robotic Manipulation
Chanh Nguyen, Shutong Jin, Florian T. Pokorny +1
Cloud robotics enables robots to offload high-dimensional motion planning and reasoning to remote servers. However, for continuous manipulation tasks requiring high-frequency contr…
RoboLight: A Dataset with Linearly Composable Illumination for Robotic Manipulation
Shutong Jin, Jin Yang, Muhammad Zahid +1
In this paper, we introduce RoboLight, the first real-world robotic manipulation dataset capturing synchronized episodes under systematically varied lighting conditions. RoboLight…
Latent Diffeomorphic Co-Design of End-Effectors for Deformable and Fragile Object Manipulation
Kei Ikemura, Yifei Dong, Florian T. Pokorny
Manipulating deformable and fragile objects remains a fundamental challenge in robotics due to complex contact dynamics and strict requirements on object integrity. Existing approa…
PALM: Enhanced Generalizability for Local Visuomotor Policies via Perception Alignment
Ruiyu Wang, Zheyu Zhuang, Danica Kragic +1
Generalizing beyond the training domain in image-based behavior cloning remains challenging. Existing methods address individual axes of generalization, workspace shifts, viewpoint…
ViTA-Seg: Vision Transformer for Amodal Segmentation in Robotics
Donato Caramia, Florian T. Pokorny, Giuseppe Triggiani +3
Occlusions in robotic bin picking compromise accurate and reliable grasp planning. We present ViTA-Seg, a class-agnostic Vision Transformer framework for real-time amodal segmentat…
Sim-to-Real Gentle Manipulation of Deformable and Fragile Objects with Stress-Guided Reinforcement Learning
Kei Ikemura, Yifei Dong, David Blanco-Mulero +3
Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions…
Physically-based Lighting Generation for Robotic Manipulation
Shutong Jin, Lezhong Wang, Ben Temming +1
In this paper, we propose the first framework that leverages physically-based inverse rendering for novel lighting generation on existing real-world human demonstrations of robotic…
Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance
Yifei Dong, Yan Zhang, Sylvain Calinon +1
Humans subconsciously choose robust ways of selecting and using tools, for example, choosing a ladle over a flat spatula to serve meatballs. However, robustness under external dist…
Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control
Rafael I. Cabral Muchacho, Riddhiman Laha, Florian T. Pokorny +2
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have…
Data-augmented Learning of Geodesic Distances in Irregular Domains through Soner Boundary Conditions
Rafael I. Cabral Muchacho, Florian T. Pokorny
Geodesic distances play a fundamental role in robotics, as they efficiently encode global geometric information of the domain. Recent methods use neural networks to approximate geo…
R900: Understanding the Cost-Effectiveness of Random Exploration from 900 Hours of Robotic Data Collection
Shutong Jin, Axel Kaliff, Ruiyu Wang +2
Data scarcity presents a key bottleneck for imitation learning in robotic manipulation. In this paper, we focus on random exploration data-actions and video sequences produced auto…
Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation
Haofei Lu, Yifei Dong, Zehang Weng +3
We introduce the sequential multi-object robotic grasp sampling algorithm SeqGrasp that can robustly synthesize stable grasps on diverse objects using the robotic hand's partial De…
T-DOM: A Taxonomy for Robotic Manipulation of Deformable Objects
David Blanco-Mulero, Yifei Dong, Julia Borras +2
Robotic grasp and manipulation taxonomies, inspired by observing human manipulation strategies, can provide key guidance for tasks ranging from robotic gripper design to the develo…
PACA: Perspective-Aware Cross-Attention Representation for Zero-Shot Scene Rearrangement
Shutong Jin, Ruiyu Wang, Kuangyi Chen +1
Scene rearrangement, like table tidying, is a challenging task in robotic manipulation due to the complexity of predicting diverse object arrangements. Web-scale trained generative…
Feature Extractor or Decision Maker: Rethinking the Role of Visual Encoders in Visuomotor Policies
Ruiyu Wang, Zheyu Zhuang, Shutong Jin +3
An end-to-end (E2E) visuomotor policy is typically treated as a unified whole, but recent approaches using out-of-domain (OOD) data to pretrain the visual encoder have cleanly sepa…