47 citations · 142 across the 49 of their papers we have counts for
13 papers · 1 filter
Neural Inverse Source Problems
Youngsun Wi, Jayjun Lee, Miquel Oller +1
Reconstructing unknown external source functions is an important perception capability for a large range of robotics domains including manipulation, aerial, and underwater robotics…
Contrastive Touch-to-Touch Pretraining
Samanta Rodriguez, Yiming Dou, William van den Bogert +4
Today's tactile sensors have a variety of different designs, making it challenging to develop general-purpose methods for processing touch signals. In this paper, we learn a unifie…
GelSlim 4.0: Focusing on Touch and Reproducibility
Andrea Sipos, William van den Bogert, Nima Fazeli
Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based ta…
Bimanual In-hand Manipulation using Dual Limit Surfaces
An Dang, James Lorenz, Xili Yi +1
In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration,…
RACER: Rich Language-Guided Failure Recovery Policies for Imitation Learning
Yinpei Dai, Jayjun Lee, Nima Fazeli +1
Developing robust and correctable visuomotor policies for robotic manipulation is challenging due to the lack of self-recovery mechanisms from failures and the limitations of simpl…
Tactile Functasets: Neural Implicit Representations of Tactile Datasets
Sikai Li, Samanta Rodriguez, Yiming Dou +2
Modern incarnations of tactile sensors produce high-dimensional raw sensory feedback such as images, making it challenging to efficiently store, process, and generalize across sens…
Tactile Neural De-rendering
Jose A. Eyzaguirre, Miquel Oller, Nima Fazeli
Tactile sensing has proven to be an invaluable tool for enhancing robotic perception, particularly in scenarios where visual data is limited or unavailable. However, traditional me…
Touch2Touch: Cross-Modal Tactile Generation for Object Manipulation
Samanta Rodriguez, Yiming Dou, Miquel Oller +2
Today's touch sensors come in many shapes and sizes. This has made it challenging to develop general-purpose touch processing methods since models are generally tied to one specifi…
Built Different: Tactile Perception to Overcome Cross-Embodiment Capability Differences in Collaborative Manipulation
William van den Bogert, Madhavan Iyengar, Nima Fazeli
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between r…
Visual-auditory Extrinsic Contact Estimation
Xili Yi, Jayjun Lee, Nima Fazeli
Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are…
RUMI: Rummaging Using Mutual Information
Sheng Zhong, Nima Fazeli, Dmitry Berenson
This paper presents Rummaging Using Mutual Information (RUMI), a method for online generation of robot action sequences to gather information about the pose of a known movable obje…
This&That: Language-Gesture Controlled Video Generation for Robot Planning
Boyang Wang, Nikhil Sridhar, Chao Feng +4
Clear, interpretable instructions are invaluable when attempting any complex task. Good instructions help to clarify the task and even anticipate the steps needed to solve it. In t…
Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control
Miquel Oller, Dmitry Berenson, Nima Fazeli
In this paper, we consider the problem of non-prehensile manipulation using grasped objects. This problem is a superset of many common manipulation skills including instances of to…