AIConfPaper
← Search

Berk Calli

18 accepted papers

2026

A Benchmarking Study of Vision-Based Robotic Grasping Algorithms

Bharath Kumar Ramesh Babu, Sumukh Sreenivasarao Balakrishna, Brian Flynn, Vinayak Kapoor, Adam Norton, Holly Yanco +1
ICRA 2026poster

We present a benchmarking study of vision-based robotic grasping algorithms with distinct approaches, and pro- vide a comparative analysis. In particular, we compare two machine-learning-based and two analytical algorithms using an existing benchmarking protocol from the literature and deter- mine t…

Cited by 0Source ↗PDF ↗code ↗Scholar ↗
2026

Image-Based Roadmaps for Vision-Only Planning and Control of Robotic Manipulators

Sreejani Chatterjee, Abhinav Gandhi, Berk Calli, Constantinos Chamzas
ICRA 2026poster

This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit robot model or proprioceptive sensing. At the core of our appro…

Cited by 0Source ↗PDF ↗Scholar ↗
2024

Grow-to-Shape Control of Variable Length Continuum Robots via Adaptive Visual Servoing

Abhinav Gandhi, Shou-Shan Chiang, Cagdas D. Onal, Berk Calli
IROS 2024poster

In this paper, we propose an adaptive eye-to-hand vision-based control methodology, which enables a closed-loop grow-to-shape capability for variable length continuum manipulators in 2D. Our method utilizes shape features of the continuum robot, i.e. module curvature and length, which are obtained f…

Cited by 1Source ↗Scholar ↗
2024

Stereo Image-based Visual Servoing Towards Feature-based Grasping

Albert Enyedy, Ashay Aswale, Berk Calli, Michael Gennert
ICRA 2024poster

This paper presents an image-based visual servoing scheme that can control robotic manipulators in 3D space using 2D stereo images without needing to perform stereo reconstruction. We use a stereo camera in an eye-to-hand configuration for controlling the robot to reach target positions by directly…

Cited by 3Source ↗Scholar ↗
2024

Utilizing Inpainting for Training Keypoint Detection Algorithms Towards Markerless Visual Servoing

Sreejani Chatterjee, Duc Doan, Berk Calli
ICRA 2024poster

This paper presents a novel strategy to train keypoint detection models for robotics applications. Our goal is to develop methods that can robustly detect and track natural features on robotic manipulators. Such features can be used for vision-based control and pose estimation purposes, when placing…

Cited by 1Source ↗Scholar ↗
2023

Keypoints-Based Adaptive Visual Servoing for Control of Robotic Manipulators in Configuration Space

Sreejani Chatterjee, Abhay C. Karade, Abhinav Gandhi, Berk Calli
IROS 2023poster

This paper presents a visual servoing method for controlling a robot in the configuration space by purely using its natural features. We first created a data collection pipeline that uses camera intrinsics, extrinsics, and forward kinematics to generate 2D projections of a robot's joint locations (k…

Cited by 3Source ↗code ↗Scholar ↗
2023

Shape Control of Variable Length Continuum Robots Using Clothoid-Based Visual Servoing

Abhinav Gandhi, Shou-Shan Chiang, Cagdas D. Onal, Berk Calli
IROS 2023poster

In this paper, we present a novel clothoid-based visual servoing method for controlling the shape of a variable length continuum manipulator. Clothoids are curves with linearly changing curvature. They allow us to obtain a smooth representation of a continuum manipulator's shape in a compact form wi…

Cited by 2Source ↗Scholar ↗
2022

Skeleton-based Adaptive Visual Servoing for Control of Robotic Manipulators in Configuration Space

Abhinav Gandhi, Sreejani Chatterjee, Berk Calli
IROS 2022poster

This paper presents a novel visual servoing method that controls a robotic manipulator in the configuration space as opposed to the classical vision-based control methods solely focusing on the end effector pose. We first extract the robot's shape from depth images using a skeletonization algorithm…

Cited by 6Source ↗Scholar ↗
2022

ZeroWaste Dataset: Towards Deformable Object Segmentation in Cluttered Scenes

Dina Bashkirova, Mohamed Abdelfattah, Ziliang Zhu, James Akl, Fadi Alladkani, Ping Hu +4
CVPR 2022poster

Less than 35% of recyclable waste is being actually recycled in the US, which leads to increased soil and sea pollution and is one of the major concerns of environmental researchers as well as the common public. At the heart of the problem are the inefficiencies of the waste sorting process (separat…

Cited by 67PDF ↗code ↗Scholar ↗
2021

RB2: Robotic Manipulation Benchmarking with a Twist

Sudeep Dasari, Jianren Wang, Joyce Hong, Shikhar Bahl, Yixin Lin, Austin S Wang +9
NeurIPS 2021poster

Benchmarks offer a scientific way to compare algorithms using objective performance metrics. Good benchmarks have two features: (a) they should be widely useful for many research groups; (b) and they should produce reproducible findings. In robotic manipulation research, there is a trade-off between…

Cited by 25Source ↗Scholar ↗
2021

Region-Based Planning for 3D Within-Hand-Manipulation via Variable Friction Robot Fingers and Extrinsic Contacts

Alp Sahin, Adam J. Spiers, Berk Calli
ICRA 2021poster

Attempts to achieve robotic Within-Hand-Manipulation (WIHM) generally utilize either high-DOF robotic hands with elaborate sensing apparatus or multi-arm robotic systems. In prior work we presented a simple robot hand with variable friction robot fingers, which allow a low-complexity approach to wit…

Cited by 2Source ↗Scholar ↗
2019

Learning from Transferable Mechanics Models: Generalizable Online Mode Detection in Underactuated Dexterous Manipulation

Andrew S. Morgan, Walter G. Bircher, Berk Calli, Aaron M. Dollar
ICRA 2019poster

In this work, we investigate a mechanics-inspired framework for describing fingertip-based planar within-hand manipulation with an underactuated robotic gripper. In particular, this framework leverages fundamental mechanics properties of the hand-object system, including basic terms such as local co…

Cited by 5Source ↗Scholar ↗
2017

Vision-based model predictive control for within-hand precision manipulation with underactuated grippers

Berk Calli, Aaron M. Dollar
ICRA 2017poster

Precision manipulation with underactuated hands is a challenging problem due to difficulties in obtaining precise gripper, object and contact models. Using vision feedback provides a degree of robustness to modeling inaccuracies, but conventional visual servoing schemes may suffer from performance d…

Cited by 51Source ↗Scholar ↗
2016

Vision-based precision manipulation with underactuated hands: Simple and effective solutions for dexterity

Berk Calli, Aaron M. Dollar
IROS 2016poster

In this paper, a method is proposed for vision-based within-hand precision manipulation with underactuated grippers. The method combines the advantages of adaptive underactuation with the robustness of visual servoing algorithms by employing simple action sets in actuator space, called precision man…

Cited by 23Source ↗Scholar ↗
2015

Unplanned, model-free, single grasp object classification with underactuated hands and force sensors

Minas V. Liarokapis, Berk Calli, Adam J. Spiers, Aaron M. Dollar
IROS 2015poster

In this paper we present a methodology for discriminating between different objects using only a single force closure grasp with an underactuated robot hand equipped with force sensors. The technique leverages the benefits of simple, adaptive robot grippers (which can grasp successfully without prio…

Cited by 51Source ↗Scholar ↗