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 • 9 Oct 2020 • Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Ryan Hoque, Joseph E. Gonzalez, Ken Goldberg
We explore learning pixelwise correspondences between images of deformable objects in different configurations.
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 • 9 Dec 2021 • Rika Antonova, Jingyun Yang, Priya Sundaresan, Dieter Fox, Fabio Ramos, Jeannette Bohg
Deformable object manipulation remains a challenging task in robotics research.
no code implementations • 7 Apr 2022 • Priya Sundaresan, Rika Antonova, Jeannette Bohg
However, for highly deformable objects it is challenging to align the output of a simulator with the behavior of real objects.
no code implementations • 26 Nov 2022 • Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh
Acquiring food items with a fork poses an immense challenge to a robot-assisted feeding system, due to the wide range of material properties and visual appearances present across food groups.
no code implementations • 29 Jun 2023 • Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh, Jeannette Bohg
While natural language offers a convenient shared interface for humans and robots, enabling robots to interpret and follow language commands remains a longstanding challenge in manipulation.
no code implementations • 11 Sep 2023 • Priya Sundaresan, Jiajun Wu, Dorsa Sadigh
A robot providing mealtime assistance must perform specialized maneuvers with various utensils in order to pick up and feed a range of food items.
no code implementations • 3 Nov 2023 • Jiayuan Gu, Sean Kirmani, Paul Wohlhart, Yao Lu, Montserrat Gonzalez Arenas, Kanishka Rao, Wenhao Yu, Chuyuan Fu, Keerthana Gopalakrishnan, Zhuo Xu, Priya Sundaresan, Peng Xu, Hao Su, Karol Hausman, Chelsea Finn, Quan Vuong, Ted Xiao
Generalization remains one of the most important desiderata for robust robot learning systems.