93 citations · 407 across the 82 of their papers we have counts for
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Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop
Sebastian Höfer, Kostas Bekris, Ankur Handa +12
This report presents the debates, posters, and discussions of the Sim2Real workshop held in conjunction with the 2020 edition of the "Robotics: Science and System" conference. Twel…
Spring-Rod System Identification via Differentiable Physics Engine
Kun Wang, Mridul Aanjaneya, Kostas Bekris
We propose a novel differentiable physics engine for system identification of complex spring-rod assemblies. Unlike black-box data-driven methods for learning the evolution of a dy…
Sim2Sim Evaluation of a Novel Data-Efficient Differentiable Physics Engine for Tensegrity Robots
Kun Wang, Mridul Aanjaneya, Kostas Bekris
Learning policies in simulation is promising for reducing human effort when training robot controllers. This is especially true for soft robots that are more adaptive and safe but…
Safe and Effective Picking Paths in Clutter given Discrete Distributions of Object Poses
Rui Wang, Chaitanya Mitash, Shiyang Lu +2
Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimat…
se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains
Bowen Wen, Chaitanya Mitash, Baozhang Ren +1
Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves signific…
Task-driven Perception and Manipulation for Constrained Placement of Unknown Objects
Chaitanya Mitash, Rahul Shome, Bowen Wen +2
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for m…