7 accepted papers
B* is a novel optimization framework that addresses a critical challenge in fixed-base manipulator robotics: optimal base placement. Current methods rely on pre-computed kinematics databases generated through sampling to search for solutions. However, they face an inherent trade-off between solution…
Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. See-Through-Skin (STS) sensors, which combine tactile and visual perception, offer promising sensing capabilities, while modern imitation learning provides powerful too
Autonomous manipulation of articulated objects represents a basic skill for robots deployed in human environments. Current vision-based methods can infer object hidden kinematics, but their estimates are sometimes imprecise in driving reliable actions, especially on previously unseen objects. Tactil…
Tactile sensing is crucial for achieving human-level robotic capabilities in manipulation tasks. As a promising solution, Vision-based Tactile Sensors (VBTSs) offer high spatial resolution and cost-effectiveness, but present unique challenges in robotics for their complex physical characteristics an…
Robot-assisted minimally invasive surgery (RAMIS) provides substantial benefits over traditional open and laparoscopic methods. However, a significant limitation of robot-assisted minimally invasive surgery (RAMIS) is the surgeon's inability to palpate tissues, a crucial technique for examining tiss
We present an optimization-based framework for rearranging indoor furniture to accommodate human-robot co-activities better. The rearrangement aims to afford sufficient accessible space for robot activities without compromising everyday human activities. To retain human activities, our algorithm pre…
Modern herbicide application in agricultural set-tings typically relies on either large scale sprayers that dispense herbicide over crops and weeds alike or portable sprayers that require labor intensive manual operation. The former method results in overuse of herbicide and reduction in crop yield…