6 papers
V2F: Vision-Informed Grasp Force Prediction for Damage-Aware Robotic Handling of Date Fruits
Shahd Shami, Obadah Wali, Eric Feron +1
This paper presents a vision-informed grasp force prediction framework for robotic handling of date fruits. Addressing the dual challenge of high detachment forces and low bruise t…
FlipItRight: Stable Pose-Targeted Throw-Flip Across Diverse Objects
Axel Dawne, Shinkyu Park
We propose FlipItRight, a framework for stable planar pose-targeted throw-flip with a high-DoF manipulator. The task is decomposed into an object-level planner, which generates can…
RACAS: Controlling Diverse Robots With a Single Agentic System
Dylan R. Ashley, Jan Przepióra, Yimeng Chen +5
Many robotic platforms expose an API through which external software can command their actuators and read their sensors. However, transitioning from these low-level interfaces to h…
On the Stabilization of Rigid Formations on Regular Curves
Mohamed Elobaid, Shinkyu Park, Eric Feron
This work deals with the problem of stabilizing a multi-agent rigid formation on a general class of planar curves. Namely, we seek to stabilize an equilateral polygonal formation o…
Toward Accurate Long-Horizon Robotic Manipulation: Language-to-Action with Foundation Models via Scene Graphs
Sushil Samuel Dinesh, Shinkyu Park
This paper presents a framework that leverages pre-trained foundation models for robotic manipulation without domain-specific training. The framework integrates off-the-shelf model…
TAB-Fields: A Maximum Entropy Framework for Mission-Aware Adversarial Planning
Gokul Puthumanaillam, Jae Hyuk Song, Nurzhan Yesmagambet +2
Autonomous agents operating in adversarial scenarios face a fundamental challenge: while they may know their adversaries' high-level objectives, such as reaching specific destinati…