1 code implementation • 12 Oct 2021 • Gaurav Chachra, Qingkai Kong, Jim Huang, Srujay Korlakunta, Jennifer Grannen, Alexander Robson, Richard Allen
After significant earthquakes, we can see images posted on social media platforms by individuals and media agencies owing to the mass usage of smartphones these days.
no code implementations • 3 Mar 2020 • Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg
We address these challenges using interpretable deep visual representations for rope, extending recent work on dense object descriptors for robot manipulation.
no code implementations • 28 Mar 2020 • Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Jennifer Grannen, Minho Hwang, Ryan Hoque, Joseph E. Gonzalez, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics.
no code implementations • 10 Nov 2020 • Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Minho Hwang, Vainavi Viswanath, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
HULK successfully untangles a cable from a dense initial configuration containing up to two overhand and figure-eight knots in 97. 9% of 378 simulation experiments with an average of 12. 1 actions per trial.
no code implementations • 4 Jun 2021 • Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Ellen Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
Disentangling two or more cables requires many steps to remove crossings between and within cables.
no code implementations • 29 Jun 2021 • Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen Novoseller, Minho Hwang, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
We present two algorithms that enhance robust cable untangling, LOKI and SPiDERMan, which operate alongside HULK, a high-level planner from prior work.
no code implementations • 26 Nov 2022 • Jennifer Grannen, Yilin Wu, Suneel Belkhale, Dorsa Sadigh
In order to acquire foods with such diverse properties, we propose stabilizing food items during scooping using a second arm, for example, by pushing peas against the spoon with a flat surface to prevent dispersion.
no code implementations • 3 Sep 2023 • Jennifer Grannen, Yilin Wu, Brandon Vu, Dorsa Sadigh
We counteract this challenge by drawing inspiration from humans to propose a novel role assignment framework: a stabilizing arm holds an object in place to simplify the environment while an acting arm executes the task.