48 citations · 426 across the 46 of their papers we have counts for
59 papers
simPLE: a visuotactile method learned in simulation to precisely pick, localize, regrasp, and place objects
Maria Bauza, Antonia Bronars, Yifan Hou +3
Existing robotic systems have a clear tension between generality and precision. Deployed solutions for robotic manipulation tend to fall into the paradigm of one robot solving a si…
Simultaneous Tactile Estimation and Control of Extrinsic Contact
Sangwoon Kim, Devesh K. Jha, Diego Romeres +2
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling l…
Visuotactile Affordances for Cloth Manipulation with Local Control
Neha Sunil, Shaoxiong Wang, Yu She +2
Cloth in the real world is often crumpled, self-occluded, or folded in on itself such that key regions, such as corners, are not directly graspable, making manipulation difficult.…
Robust Planning for Multi-stage Forceful Manipulation
Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez
Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the…
Tac2Pose: Tactile Object Pose Estimation from the First Touch
Maria Bauza, Antonia Bronars, Alberto Rodriguez
In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation from the first touch for known objects. Given the object geometry, we learn a tailored pe…
Manipulation of unknown objects via contact configuration regulation
Neel Doshi, Orion Taylor, Alberto Rodriguez
We present an approach to robotic manipulation of unknown objects through regulation of the object's contact configuration: the location, geometry, and mode of all contacts between…