20 citations · 150 across the 43 of their papers we have counts for
10 papers · 1 filter
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…
Style-transfer based Speech and Audio-visual Scene Understanding for Robot Action Sequence Acquisition from Videos
Chiori Hori, Puyuan Peng, David Harwath +7
To realize human-robot collaboration, robots need to execute actions for new tasks according to human instructions given finite prior knowledge. Human experts can share their knowl…
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…