Search Results for author:
Found 8 papers, 0 papers with code
PhyGrasp: Generalizing Robotic Grasping with Physics-informed Large Multimodal Models
With these two capabilities, PhyGrasp is able to accurately assess the physical properties of object parts and determine optimal grasping poses.
Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection
Automating the assembly of objects from their parts is a complex problem with innumerable applications in manufacturing, maintenance, and recycling.
Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks
Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI.
Diff-Transfer: Model-based Robotic Manipulation Skill Transfer via Differentiable Physics Simulation
In this work, we introduce $\textit{Diff-Transfer}$, a novel framework leveraging differentiable physics simulation to efficiently transfer robotic skills.
Human-oriented Representation Learning for Robotic Manipulation
We introduce Task Fusion Decoder as a plug-and-play embedding translator that utilizes the underlying relationships among these perceptual skills to guide the representation learning towards encoding meaningful structure for what's important for all perceptual skills, ultimately empowering learning of downstream robotic manipulation tasks.
Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints
Vision-based tactile sensors typically utilize a deformable elastomer and a camera mounted above to provide high-resolution image observations of contacts.
Contact Pose Identification for Peg-in-Hole Assembly under Uncertainties
Peg-in-hole assembly is a challenging contact-rich manipulation task.
Robotics
Optimization Model for Planning Precision Grasps with Multi-Fingered Hands
Searching precision grasps on the object represented by point cloud, is challenging due to the complex object shape, high-dimensionality, collision and undesired properties of the sensing and positioning.
Robotics
