Publications

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. STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation (__Selected for Oral Presentation (6.5% acceptance rate)__). CoRL, 2022.

PDF Website arXiv

. Model Predictive Control for Fluid Human-to-Robot Handovers(*equal contribution). ICRA, 2022.

Video Website arXiv

. Learning Perceptual Concepts by Bootstrapping from Human Queries. RA-L, 2022.

Video Website arXiv

. HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Ha2ndovers. ICRA, 2022.

PDF Code Video Website arXiv

. Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior. RA-L, 2022.

arXiv

. DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects. RA-L, 2022.

arXiv

. Correcting Robot Plans with Natural Language Feedback. RSS, 2022.

Website arXiv

. Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections (*equal contribution). ICRA, 2021.

Video Website arXiv

. Joint Space Control via Deep Reinforcement Learning. IROS, 2021.

Video arXiv

. Interpreting and predicting tactile signals for the SynTouch BioTac. IJRR, 2021.

arXiv

. In-Hand Object-Dynamics Inference using Tactile Fingertips. T-RO, 2021.

PDF Video arXiv

. Multi-Fingered Grasp Planning via Inference in Deep Neural Networks. RAM, 2020.

PDF arXiv

. Learning Continuous 3D Reconstructions for Geometrically Aware Grasping. ICRA, 2020.

PDF Website arXiv

. Benchmarking In-Hand Manipulation. RA-L, 2020.

PDF Code Website arXiv

. Relaxed-Rigidity Constraints: Kinematic Trajectory Optimization and Collision Avoidance for In-Grasp Manipulation. Autonomous Robots, 2019.

PDF Code Video Website arXiv

. Robust Learning of Tactile Force Estimation through Robot Interaction (__Best Manipulation Paper Award Finalist__). ICRA, 2019.

PDF Code Video Website arXiv

. Learning Latent Space Dynamics for Tactile Servoing. ICRA, 2019.

PDF Video arXiv

. Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing. ICRA, 2019.

PDF Video arXiv

. Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation. ICRA, 2018.

PDF Video

. Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects. CoRL, 2018.

PDF Website arXiv

. Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Network. ISRR, 2017.

PDF Website

. Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization. RSS, 2017.

PDF Video Website