206 citations · 340 across the 26 of their papers we have counts for
4 papers · 1 filter
Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation
Mengxi Li, Rika Antonova, Dorsa Sadigh +1
When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as kni…
In-Hand Manipulation of Unknown Objects with Tactile Sensing for Insertion
Chaoyi Pan, Marion Lepert, Shenli Yuan +2
In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may no…
Rethinking Optimization with Differentiable Simulation from a Global Perspective
Rika Antonova, Jingyun Yang, Krishna Murthy Jatavallabhula +1
Differentiable simulation is a promising toolkit for fast gradient-based policy optimization and system identification. However, existing approaches to differentiable simulation ha…
DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects
Priya Sundaresan, Rika Antonova, Jeannette Bohg
Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realisti…