328 citations · 1.9k across the 108 of their papers we have counts for
15 papers · 1 filter
Conformal Policy Learning for Sensorimotor Control Under Distribution Shifts
Huang Huang, Satvik Sharma, Antonio Loquercio +3
This paper focuses on the problem of detecting and reacting to changes in the distribution of a sensorimotor controller's observables. The key idea is the design of switching polic…
Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping
Adam Rashid, Satvik Sharma, Chung Min Kim +4
Grasping objects by a specific part is often crucial for safety and for executing downstream tasks. Yet, learning-based grasp planners lack this behavior unless they are trained on…
Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening
Vincent Schorp, Will Panitch, Kaushik Shivakumar +6
Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread,…
The Busboy Problem: Efficient Tableware Decluttering Using Consolidation and Multi-Object Grasps
Kishore Srinivas, Shreya Ganti, Rishi Parikh +4
We present the "Busboy Problem": automating an efficient decluttering of cups, bowls, and silverware from a planar surface. As grasping and transporting individual items is highly…
Can Machines Garden? Systematically Comparing the AlphaGarden vs. Professional Horticulturalists
Simeon Adebola, Rishi Parikh, Mark Presten +8
The AlphaGarden is an automated testbed for indoor polyculture farming which combines a first-order plant simulator, a gantry robot, a seed planting algorithm, plant phenotyping an…
FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity
Kaiyuan Chen, Ryan Hoque, Karthik Dharmarajan +5
The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on de…
Push-MOG: Efficient Pushing to Consolidate Polygonal Objects for Multi-Object Grasping
Shrey Aeron, Edith LLontop, Aviv Adler +3
Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current…
IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors
Gaurav Datta, Ryan Hoque, Anrui Gu +2
Imitation learning has been applied to a range of robotic tasks, but can struggle when robots encounter edge cases that are not represented in the training data (i.e., distribution…
Robot Learning with Sensorimotor Pre-training
Ilija Radosavovic, Baifeng Shi, Letian Fu +3
We present a self-supervised sensorimotor pre-training approach for robotics. Our model, called RPT, is a Transformer that operates on sequences of sensorimotor tokens. Given a seq…
Video Prediction Models as Rewards for Reinforcement Learning
Alejandro Escontrela, Ademi Adeniji, Wilson Yan +6
Specifying reward signals that allow agents to learn complex behaviors is a long-standing challenge in reinforcement learning. A promising approach is to extract preferences for be…
Manipulator as a Tail: Promoting Dynamic Stability for Legged Locomotion
Huang Huang, Antonio Loquercio, Ashish Kumar +3
For locomotion, is an arm on a legged robot a liability or an asset for locomotion? Biological systems evolved additional limbs beyond legs that facilitates postural control. This…
LERF: Language Embedded Radiance Fields
Justin Kerr, Chung Min Kim, Ken Goldberg +2
Humans describe the physical world using natural language to refer to specific 3D locations based on a vast range of properties: visual appearance, semantics, abstract associations…
Bagging by Learning to Singulate Layers Using Interactive Perception
Lawrence Yunliang Chen, Baiyu Shi, Roy Lin +6
Many fabric handling and 2D deformable material tasks in homes and industry require singulating layers of material such as opening a bag or arranging garments for sewing. In contra…
HANDLOOM: Learned Tracing of One-Dimensional Objects for Inspection and Manipulation
Vainavi Viswanath, Kaushik Shivakumar, Jainil Ajmera +6
Tracing - estimating the spatial state of - long deformable linear objects such as cables, threads, hoses, or ropes, is useful for a broad range of tasks in homes, retail, factorie…
Semantic Mechanical Search with Large Vision and Language Models
Satvik Sharma, Huang Huang, Kaushik Shivakumar +4
Moving objects to find a fully-occluded target object, known as mechanical search, is a challenging problem in robotics. As objects are often organized semantically, we conjecture…