3 accepted papers
This paper offers an explanation of why humans can effortlessly grasp objects from a pile. We identified a regularity in objects’ motion when pushed, namely, an object separates and stabilizes in front of the pusher. We devise an open-loop grasping strategy leveraging this regularity in piles of nea…
A robot with contact sensing capability can reduce uncertainty relative to the environment by deliberately moving into contact and matching the resulting contact measurement to different possible states in the world. We present a manipulation planner that finds and sequences these actions by reasoni…
We consider an online planning algorithm for partially observable Markov decision processes (POMDPs), called Anytime Error Minimization Search 2 (AEMS2). Despite the considerable success it has enjoyed in robotics and other problems, no quantitative analysis exists of the relationship between its ne…