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Kaushik Shivakumar

4 accepted papers

2023

HANDLOOM: Learned Tracing of One-Dimensional Objects for Inspection and Manipulation

Vainavi Viswanath, Kaushik Shivakumar, Mallika Parulekar, Jainil Ajmera, Justin Kerr, Jeffrey Ichnowski +3
CoRL 2023oral

Tracing – estimating the spatial state of – long deformable linear objects such as cables, threads, hoses, or ropes, is useful for a broad range of tasks in homes, retail, factories, construction, transportation, and healthcare. For long deformable linear objects (DLOs or simply cables) with many (o…

Cited by 6Source ↗code ↗Scholar ↗
2023

SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception

Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski +3
ICRA 2023poster

Cables are commonplace in homes, hospitals, and industrial warehouses and are prone to tangling. This paper extends prior work on autonomously untangling long cables by introducing novel uncertainty quantification metrics and actions that interact with the cable to reduce perception uncertainty. We…

Cited by 20Source ↗Scholar ↗
2023

Semantic Mechanical Search with Large Vision and Language Models

Satvik Sharma, Huang Huang, Kaushik Shivakumar, Lawrence Yunliang Chen, Ryan Hoque, brian ichter +1
CoRL 2023poster

Moving objects to find a fully-occluded target object, known as mechanical search, is a challenging problem in robotics. As objects are often organized semantically, we conjecture that semantic information about object relationships can facilitate mechanical search and reduce search time. Large pret…

Cited by 11Source ↗Scholar ↗
2022

Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research

Ryan Hoque, Kaushik Shivakumar, Shrey Aeron, Gabriel Deza, Aditya Ganapathi, Adrian Wong +4
IROS 2022poster

Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution of control policies on physical robots, we present the first…

Cited by 22Source ↗Scholar ↗