25 citations · 44 across the 7 of their papers we have counts for
6 papers · 1 filter
Generalizing Object-Centric Task-Axes Controllers using Keypoints
Mohit Sharma, Oliver Kroemer
To perform manipulation tasks in the real world, robots need to operate on objects with various shapes, sizes and without access to geometric models. It is often unfeasible to trai…
Relational Learning for Skill Preconditions
Mohit Sharma, Oliver Kroemer
To determine if a skill can be executed in any given environment, a robot needs to learn the preconditions for the skill. As robots begin to operate in dynamic and unstructured env…
Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation
Mohit Sharma, Jacky Liang, Jialiang Zhao +2
Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e.g., sliding an object to a goal pose while maintaining contact with a table. Individual s…
A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy
Kevin Zhang, Mohit Sharma, Jacky Liang +1
We designed a modular robotic control stack that provides a customizable and accessible interface to the Franka Emika Panda Research robot. This framework abstracts high-level robo…
Leveraging Multimodal Haptic Sensory Data for Robust Cutting
Kevin Zhang, Mohit Sharma, Manuela Veloso +1
Cutting is a common form of manipulation when working with divisible objects such as food, rope, or clay. Cooking in particular relies heavily on cutting to divide food items into…
Learning Semantic Embedding Spaces for Slicing Vegetables
Mohit Sharma, Kevin Zhang, Oliver Kroemer
In this work, we present an interaction-based approach to learn semantically rich representations for the task of slicing vegetables. Unlike previous approaches, we focus on object…