Cody Houff

2 accepted papers

2024

ForceSight: Text-Guided Mobile Manipulation with Visual-Force Goals

Jeremy A. Collins, Cody Houff, You Liang Tan, Charles C. Kemp

ICRA 2024poster

We present ForceSight, a system for text-guided mobile manipulation that predicts visual-force goals using a text-conditioned vision transformer. Given a single RGBD image and a text prompt, ForceSight determines a target end-effector pose in the camera frame (kinematic goal) and the associated forc…

Cited by 18 Source ↗code ↗Scholar ↗

2023

Visual Contact Pressure Estimation for Grippers in the Wild

Jeremy A. Collins, Cody Houff, Patrick Grady, Charles C. Kemp

IROS 2023poster

Sensing contact pressure applied by a gripper can benefit autonomous and teleoperated robotic manipulation, but adding tactile sensors to a gripper's surface can be difficult or impractical. If a gripper visibly deforms, contact pressure can be visually estimated using images from an external camera…

Cited by 1 Source ↗code ↗Scholar ↗