2 citations · 6 across the 13 of their papers we have counts for
8 papers · 1 filter
Geodesic Tracing-Based Kinematic Integration of Rolling and Sliding Contact on Manifold Meshes for Dexterous In-Hand Manipulation
Sunyu Wang, Arjun S. Lakshmipathy, Jean Oh +1
Reasoning about rolling and sliding contact, or roll-slide contact for short, is critical for dexterous manipulation tasks that involve intricate geometries. But existing works on…
Soft Robotic Dynamic In-Hand Pen Spinning
Yunchao Yao, Uksang Yoo, Jean Oh +2
Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have demonstrated advantages in safe compliant interactions but struggle with high-speed dynam…
RoPotter: Toward Robotic Pottery and Deformable Object Manipulation with Structural Priors
Uksang Yoo, Adam Hung, Jonathan Francis +2
Humans are capable of continuously manipulating a wide variety of deformable objects into complex shapes. This is made possible by our intuitive understanding of material propertie…
CoFRIDA: Self-Supervised Fine-Tuning for Human-Robot Co-Painting
Peter Schaldenbrand, Gaurav Parmar, Jun-Yan Zhu +2
Prior robot painting and drawing work, such as FRIDA, has focused on decreasing the sim-to-real gap and expanding input modalities for users, but the interaction with these systems…
POE: Acoustic Soft Robotic Proprioception for Omnidirectional End-effectors
Uksang Yoo, Ziven Lopez, Jeffrey Ichnowski +1
Soft robotic shape estimation and proprioception are challenging because of soft robot's complex deformation behaviors and infinite degrees of freedom. A soft robot's continuously…
Core Challenges in Embodied Vision-Language Planning
Jonathan Francis, Nariaki Kitamura, Felix Labelle +3
Recent advances in the areas of Multimodal Machine Learning and Artificial Intelligence (AI) have led to the development of challenging tasks at the intersection of Computer Vision…