Modeling, learning, perception, and control methods for deformable object manipulation
Perceiving and handling deformable objects is an integral part of everyday life for humans.
Automating tasks such as food handling, garment sorting, or assistive dressing requires …
Automating tasks such as food handling, garment sorting, or assistive dressing requires …
Challenges and outlook in robotic manipulation of deformable objects
Deformable object manipulation (DOM) is an emerging research problem in robotics. The
ability to manipulate deformable objects endows robots with higher autonomy and promises …
ability to manipulate deformable objects endows robots with higher autonomy and promises …
Learning where to trust unreliable models in an unstructured world for deformable object manipulation
The world outside our laboratories seldom conforms to the assumptions of our models. This
is especially true for dynamics models used in control and motion planning for complex high …
is especially true for dynamics models used in control and motion planning for complex high …
Shape control of deformable linear objects with offline and online learning of local linear deformation models
The shape control of deformable linear objects (DLOs) is challenging, since it is difficult to
obtain the deformation models. Previous studies often approximate the models in purely …
obtain the deformation models. Previous studies often approximate the models in purely …
A survey on the integration of machine learning with sampling-based motion planning
T McMahon, A Sivaramakrishnan… - … and Trends® in …, 2022 - nowpublishers.com
Sampling-based methods are widely adopted solutions for robot motion planning. The
methods are straightforward to implement, effective in practice for many robotic systems. It is …
methods are straightforward to implement, effective in practice for many robotic systems. It is …
Planning with learned dynamics: Probabilistic guarantees on safety and reachability via lipschitz constants
We present a method for feedback motion planning of systems with unknown dynamics
which provides probabilistic guarantees on safety, reachability, and goal stability. To find a …
which provides probabilistic guarantees on safety, reachability, and goal stability. To find a …
A Survey on Robotic Manipulation of Deformable Objects: Recent Advances, Open Challenges and New Frontiers
Deformable object manipulation (DOM) for robots has a wide range of applications in
various fields such as industrial, service and health care sectors. However, compared to …
various fields such as industrial, service and health care sectors. However, compared to …
Data augmentation for manipulation
P Mitrano, D Berenson - arXiv preprint arXiv:2205.02886, 2022 - arxiv.org
The success of deep learning depends heavily on the availability of large datasets, but in
robotic manipulation there are many learning problems for which such datasets do not exist …
robotic manipulation there are many learning problems for which such datasets do not exist …
Robotic manipulation of deformable rope-like objects using differentiable compliant position-based dynamics
Robot manipulation of rope-like objects is an interesting problem with some critical
applications, such as autonomous robotic suturing. Solving for and controlling rope is …
applications, such as autonomous robotic suturing. Solving for and controlling rope is …
Focused adaptation of dynamics models for deformable object manipulation
In order to efficiently learn a dynamics model for a task in a new environment, one can adapt
a model learned in a similar source environment. However, existing adaptation methods can …
a model learned in a similar source environment. However, existing adaptation methods can …