180 citations · 462 across the 56 of their papers we have counts for
55 papers · 1 filter
Hybrid Residual Reinforcement Learning for Contact-Rich Robotic Book Insertion
Tianyuan Liu, Rutherford Agbeshi Patamia, Benjamin Champion +2
Placing a grasped book into a tight shelf is a compact but difficult contact-rich control problem: millimetre-scale pose error can turn a geometrically valid approach into jamming,…
Execution-Aware Pre-Execution Ranking for Grasp-Conditioned Robotic Placement
Tianyuan Liu, Rutherford Agbeshi Patamia, Benjamin Champion +2
A geometrically valid placement can still be difficult to execute because the selected grasp changes the required end-effector pose, collision geometry, and transport motion. Place…
Geometrically Plausible Object Pose Refinement using Differentiable Simulation
Anil Zeybek, Rhys Newbury, Snehal Dikhale +3
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimat…
Optimizing Robotic Placement via Grasp-Dependent Feasibility Prediction
Tianyuan Liu, Richard Dazeley, Benjamin Champion +1
In this paper, we study whether inexpensive, physics-free supervision can reliably prioritize grasp-place candidates for budget-aware pick-and-place. From an object's initial pose,…
A Service Robot's Guide to Interacting with Busy Customers
Suraj Nukala, Meera Sushma, Leimin Tian +2
The growing use of service robots in hospitality highlights the need to understand how to effectively communicate with pre-occupied customers. This study investigates the efficacy…
Virtual Traffic Lights for Multi-Robot Navigation: Decentralized Planning with Centralized Conflict Resolution
Sagar Gupta, Thanh Vinh Nguyen, Thieu Long Phan +8
We present a hybrid multi-robot coordination framework that combines decentralized path planning with centralized conflict resolution. In our approach, each robot autonomously plan…
Hand Over or Place On The Table? A Study On Robotic Object Delivery When The Recipient Is Occupied
Thieu Long Phan, Akansel Cosgun
This study investigates the subjective experiences of users in two robotic object delivery methods: direct handover and table placement, when users are occupied with another task.…
Supermarket-6DoF: A Real-World Grasping Dataset and Grasp Pose Representation Analysis
Jason Toskov, Akansel Cosgun
We present Supermarket-6DoF, a real-world dataset of 1500 grasp attempts across 20 supermarket objects with publicly available 3D models. Unlike most existing grasping datasets tha…
Mixed Reality Outperforms Virtual Reality for Remote Error Resolution in Pick-and-Place Tasks
Advay Kumar, Stephanie Simangunsong, Pamela Carreno-Medrano +1
This study evaluates the performance and usability of Mixed Reality (MR), Virtual Reality (VR), and camera stream interfaces for remote error resolution tasks, such as correcting w…
Collaborative Object Handover in a Robot Crafting Assistant
Leimin Tian, Shiyu Xu, Kerry He +3
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers bet…
Hand-Object Contact Detection using Grasp Quality Metrics
Thanh Vinh Nguyen, Akansel Cosgun
We propose a novel hand-object contact detection system based on grasp quality metrics extracted from object and hand poses, and evaluated its performance using the DexYCB dataset.…
"One Soy Latte for Daniel": Visual and Movement Communication of Intention from a Robot Waiter to a Group of Customers
Seung Chan Hong, Leimin Tian, Akansel Cosgun +1
Service robots are increasingly employed in the hospitality industry for delivering food orders in restaurants. However, in current practice the robot often arrives at a fixed loca…
A Review of Differentiable Simulators
Rhys Newbury, Jack Collins, Kerry He +4
Differentiable simulators continue to push the state of the art across a range of domains including computational physics, robotics, and machine learning. Their main value is the a…
Audio-Visual Traffic Light State Detection for Urban Robots
Sagar Gupta, Akansel Cosgun
We present a multimodal traffic light state detection using vision and sound, from the viewpoint of a quadruped robot navigating in urban settings. This is a challenging problem be…
Towards vision-based dual arm robotic fruit harvesting
Ege Gursoy, Benjamin Navarro, Akansel Cosgun +2
Interest in agricultural robotics has increased considerably in recent years due to benefits such as improvement in productivity and labor reduction. However, current problems asso…
Variable Grasp Pose and Commitment for Trajectory Optimization
Jiahe Pan, Kerry He, Jia Ming Ong +1
We propose enhancing trajectory optimization methods through the incorporation of two key ideas: variable-grasp pose sampling and trajectory commitment. Our iterative approach samp…
Robot Gaze During Autonomous Navigation and its Effect on Social Presence
Kerry He, Wesley P. Chan, Akansel Cosgun +2
As robots have become increasingly common in human-rich environments, it is critical that they are able to exhibit social cues to be perceived as a cooperative and socially-conform…
Rotating Objects via In-Hand Pivoting using Vision, Force and Touch
Shiyu Xu, Tianyuan Liu, Michael Wong +2
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the g…
Crafting with a Robot Assistant: Use Social Cues to Inform Adaptive Handovers in Human-Robot Collaboration
Leimin Tian, Kerry He, Shiyu Xu +2
We study human-robot handovers in a naturalistic collaboration scenario, where a mobile manipulator robot assists a person during a crafting session by providing and retrieving obj…
Comparing Subjective Perceptions of Robot-to-Human Handover Trajectories
Alexander Calvert, Wesley Chan, Tin Tran +4
Robots must move legibly around people for safety reasons, especially for tasks where physical contact is possible. One such task is handovers, which requires implicit communicatio…
In-Hand Gravitational Pivoting Using Tactile Sensing
Jason Toskov, Rhys Newbury, Mustafa Mukadam +2
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To ac…
Autonomous social robot navigation in unknown urban environments using semantic segmentation
Sophie Buckeridge, Pamela Carreno-Medrano, Akansel Cosgun +2
For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass a…
Deep Learning Approaches to Grasp Synthesis: A Review
Rhys Newbury, Morris Gu, Lachlan Chumbley +9
Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic…
Integrating High-Resolution Tactile Sensing into Grasp Stability Prediction
Lachlan Chumbley, Morris Gu, Rhys Newbury +2
We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulatin…