46 citations · 72 across the 5 of their papers we have counts for
5 papers
Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands
Bowen Wen, Chaitanya Mitash, Sruthi Soorian +3
Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occlud…
Fast, Anytime Motion Planning for Prehensile Manipulation in Clutter
Andrew Kimmel, Rahul Shome, Zakary Littlefield +1
Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective f…
Fast Model Identification via Physics Engines for Data-Efficient Policy Search
Shaojun Zhu, Andrew Kimmel, Kostas E. Bekris +1
This paper presents a method for identifying mechanical parameters of robots or objects, such as their mass and friction coefficients. Key features are the use of off-the-shelf phy…
Information-theoretic Model Identification and Policy Search using Physics Engines with Application to Robotic Manipulation
Shaojun Zhu, Andrew Kimmel, Abdeslam Boularias
We consider the problem of a robot learning the mechanical properties of objects through physical interaction with the object, and introduce a practical, data-efficient approach fo…
Similar Part Rearrangement With Pebble Graphs
Athanasios Krontiris, Rahul Shome, Andrew Dobson +3
This work proposes a method for effectively computing manipulation paths to rearrange similar objects in a cluttered space. The solution can be used to place similar products in a…