20 citations · 150 across the 43 of their papers we have counts for
28 papers · 1 filter
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations
Yuki Shirai, Arvind Raghunathan, Devesh K. Jha
Designing trajectories for manipulation through contact is challenging as it requires reasoning of object \& robot trajectories as well as complex contact sequences simultaneously.…
Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry
Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan +1
Contact-implicit trajectory optimization (CITO) is an effective method to plan complex trajectories for various contact-rich systems including manipulation and locomotion. CITO for…
iPolicy: Incremental Policy Algorithms for Feedback Motion Planning
Guoxiang Zhao, Devesh K. Jha, Yebin Wang +1
This paper presents policy-based motion planning for robotic systems. The motion planning literature has been mostly focused on open-loop trajectory planning which is followed by t…
Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection
Xinghao Zhu, Devesh K. Jha, Diego Romeres +3
Automating the assembly of objects from their parts is a complex problem with innumerable applications in manufacturing, maintenance, and recycling. Unlike existing research, which…
Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks
Lingfeng Sun, Devesh K. Jha, Chiori Hori +5
Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive result…
Tactile Estimation of Extrinsic Contact Patch for Stable Placement
Kei Ota, Devesh K. Jha, Krishna Murthy Jatavallabhula +2
Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that mus…
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning
Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan +1
Complex dexterous manipulations require switching between prehensile and non-prehensile grasps, and sliding and pivoting the object against the environment. This paper presents a m…
A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators
Eric Rosen, Devesh K. Jha
We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot ma…
Covariance Steering for Uncertain Contact-rich Systems
Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan
Planning and control for uncertain contact systems is challenging as it is not clear how to propagate uncertainty for planning. Contact-rich tasks can be modeled efficiently using…
Simultaneous Tactile Estimation and Control of Extrinsic Contact
Sangwoon Kim, Devesh K. Jha, Diego Romeres +2
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling l…
Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization
Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to…
Tactile-Filter: Interactive Tactile Perception for Part Mating
Kei Ota, Devesh K. Jha, Hsiao-Yu Tung +1
Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well a…
Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control
Devesh K. Jha, Siddarth Jain, Diego Romeres +2
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices,…
Active Exploration for Robotic Manipulation
Tim Schneider, Boris Belousov, Georgia Chalvatzaki +3
Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation i…
Constrained Dynamic Movement Primitives for Safe Learning of Motor Skills
Seiji Shaw, Devesh K. Jha, Arvind Raghunathan +4
Dynamic movement primitives are widely used for learning skills which can be demonstrated to a robot by a skilled human or controller. While their generalization capabilities and s…
Design of Adaptive Compliance Controllers for Safe Robotic Assembly
Devesh K. Jha, Diego Romeres, Siddarth Jain +2
Insertion operations are a critical element of most robotic assembly operation, and peg-in-hole (PiH) insertion is one of the most widely studied tasks in the industrial and academ…
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization
Yuki Shirai, Devesh K. Jha, Arvind Raghunathan +1
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to…
PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation
Arvind Raghunathan, Devesh K. Jha, Diego Romeres
PYROBOCOP is a Python-based package for control, optimization and estimation of robotic systems described by nonlinear Differential Algebraic Equations (DAEs). In particular, the p…
Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation
Yuki Shirai, Devesh K. Jha, Arvind Raghunathan +1
This paper presents a chance-constrained formulation for robust trajectory optimization during manipulation. In particular, we present a chance-constrained optimization for Stochas…
Imitation and Supervised Learning of Compliance for Robotic Assembly
Devesh K. Jha, Diego Romeres, William Yerazunis +1
We present the design of a learning-based compliance controller for assembly operations for industrial robots. We propose a solution within the general setting of learning from dem…
Distributed Task Allocation in Homogeneous Swarms Using Language Measure Theory
Devesh K. Jha
In this paper, we present algorithms for synthesizing controllers to distribute a group (possibly swarms) of homogeneous robots (agents) over heterogeneous tasks which are operated…
Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units
Shiyu Jin, Diego Romeres, Arvind Ragunathan +2
This paper presents a novel trajectory optimization formulation to solve the robotic assembly of the belt drive unit. Robotic manipulations involving contacts and deformable object…
PYROBOCOP : Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance
Arvind U. Raghunathan, Devesh K. Jha, Diego Romeres
PYROBOCOP is a lightweight Python-based package for control and optimization of robotic systems described by nonlinear Differential Algebraic Equations (DAEs). In particular, the p…
Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry
Siyuan Dong, Devesh K. Jha, Diego Romeres +3
Object insertion is a classic contact-rich manipulation task. The task remains challenging, especially when considering general objects of unknown geometry, which significantly lim…