110 citations · 361 across the 53 of their papers we have counts for
51 papers · 1 filter
Object-centric Representations for Interactive Online Learning with Non-Parametric Methods
Nikhil U. Shinde, Jacob Johnson, Sylvia Herbert +1
Large offline learning-based models have enabled robots to successfully interact with objects for a wide variety of tasks. However, these models rely on fairly consistent structure…
Learning Sampling Dictionaries for Efficient and Generalizable Robot Motion Planning with Transformers
Jacob J Johnson, Ahmed H Qureshi, Michael Yip
Motion planning is integral to robotics applications such as autonomous driving, surgical robots, and industrial manipulators. Existing planning methods lack scalability to higher-…
Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering
Jingpei Lu, Fei Liu, Cedric Girerd +1
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that…
Design and Mechanics of Cable-Driven Rolling Diaphragm Transmission for High-Transparency Robotic Motion
Hoi Man Lam, W. Jared Walker, Lucas Jonasch +2
Applications of rolling diaphragm transmissions for medical and teleoperated robotics are of great interest, due to the low friction of rolling diaphragms combined with the power d…
Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media
Jason Lim, Calvin Joyce, Elizabeth Peiros +6
Robots "in-the-wild" encounter and must traverse widely varying terrain, ranging from solid ground to granular materials like sand to full liquids. Numerous approaches exist, inclu…
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery
Zih-Yun Chiu, Florian Richter, Michael C. Yip
Autonomous suturing has been a long-sought-after goal for surgical robotics. Outside of staged environments, accurate localization of suture needles is a critical foundation for au…