2024
Learning Dynamic Tasks on a Large-scale Soft Robot in a Handful of Trials.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
A Unifying Variational Framework for Gaussian Process Motion Planning.
Proceedings of the International Conference on Artificial Intelligence and Statistics, 2024
2023
Grasp Transfer Based on Self-Aligning Implicit Representations of Local Surfaces.
IEEE Robotics Autom. Lett., October, 2023
Differentiable Robot Neural Distance Function for Adaptive Grasp Synthesis on a Unified Robotic Arm-Hand System.
CoRR, 2023
Benchmarking local motion planners for navigation of mobile manipulators.
Proceedings of the IEEE/SICE International Symposium on System Integration, 2023
Neural Field Movement Primitives for Joint Modelling of Scenes and Motions.
IROS, 2023
Sliding Touch-Based Exploration for Modeling Unknown Object Shape with Multi-Fingered Hands.
IROS, 2023
GraspAda: Deep Grasp Adaptation through Domain Transfer.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
Safe Trajectory Sampling in Model-Based Reinforcement Learning.
Proceedings of the 19th IEEE International Conference on Automation Science and Engineering, 2023
2022
Enhanced GPIS Learning Based on Local and Global Focus Areas.
IEEE Robotics Autom. Lett., 2022
DURableVS: Data-efficient Unsupervised Recalibrating Visual Servoing via online learning in a structured generative model.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Bayesian Optimization-based Nonlinear Adaptive PID Controller Design for Robust Mobile Manipulation.
Proceedings of the 18th IEEE International Conference on Automation Science and Engineering, 2022
2021
Simultaneous Tactile Exploration and Grasp Refinement for Unknown Objects.
IEEE Robotics Autom. Lett., 2021
2020
Object shape estimation and modeling, based on sparse Gaussian process implicit surfaces, combining visual data and tactile exploration.
Robotics Auton. Syst., 2020
Benchmarking Protocol for Grasp Planning Algorithms.
IEEE Robotics Autom. Lett., 2020
Learning a generative model for robot control using visual feedback.
CoRR, 2020
2019
Dynamic grasp and trajectory planning for moving objects.
Auton. Robots, 2019
2018
Evaluating the Quality of Non-Prehensile Balancing Grasps.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
2017
Grasp quality evaluation done right: How assumed contact force bounds affect Wrench-based quality metrics.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
2016
Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation.
IEEE Trans. Robotics, 2016
CapriDB - Capture, Print, Innovate: A Low-Cost Pipeline and Database for Reproducible Manipulation Research.
CoRR, 2016
Active exploration using Gaussian Random Fields and Gaussian Process Implicit Surfaces.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016
Probabilistic consolidation of grasp experience.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
Analytic grasp success prediction with tactile feedback.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
2015
Learning Predictive State Representation for in-hand manipulation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
2014
Learning of grasp adaptation through experience and tactile sensing.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
What's in the container? Classifying object contents from vision and touch.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Grasp moduli spaces and spherical harmonics.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Learning to disambiguate object hypotheses through self-exploration.
Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014
2013
Enhancing visual perception of shape through tactile glances.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
A probabilistic framework for task-oriented grasp stability assessment.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013
Predicting slippage and learning manipulation affordances through Gaussian Process regression.
Proceedings of the 13th IEEE-RAS International Conference on Humanoid Robots, 2013
2012
Learning to Assess Grasp Stability from Vision, Touch and Proprioception.
PhD thesis, 2012
2011
Assessing Grasp Stability Based on Learning and Haptic Data.
IEEE Trans. Robotics, 2011
Learning tactile characterizations of object- and pose-specific grasps.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011
Integrating grasp planning with online stability assessment using tactile sensing.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
2010
Learning grasp stability based on tactile data and HMMs.
Proceedings of the 19th IEEE International Conference on Robot and Human Interactive Communication, 2010