34 citations · 48 across the 8 of their papers we have counts for
8 papers
simPLE: a visuotactile method learned in simulation to precisely pick, localize, regrasp, and place objects
Maria Bauza, Antonia Bronars, Yifan Hou +3
Existing robotic systems have a clear tension between generality and precision. Deployed solutions for robotic manipulation tend to fall into the paradigm of one robot solving a si…
Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D
Xianyi Cheng, Eric Huang, Yifan Hou +1
This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm…
An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity Control
Yifan Hou, Matthew T. Mason
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes…
Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
Xianyi Cheng, Eric Huang, Yifan Hou +1
The discontinuities and multi-modality introduced by contacts make manipulation planning challenging. Many previous works avoid this problem by pre-designing a set of high-level mo…
Manipulation with Shared Grasping
Yifan Hou, Zhenzhong Jia, Matthew T. Mason
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a…
Reorienting Objects in 3D Space Using Pivoting
Yifan Hou, Zhenzhong Jia, Matthew T. Mason
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-…
Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control
Yifan Hou, Matthew T. Mason
In hybrid force-velocity control, the robot can use velocity control in some directions to follow a trajectory, while performing force control in other directions to maintain conta…
Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments
Shushman Choudhury, Yifan Hou, Gilwoo Lee +1
We present an algorithm for obtaining an optimal control policy for hybrid dynamical systems in cluttered environments. To the best of our knowledge, this is the first attempt to h…