Zobrazeno 1 - 10
of 21
pro vyhledávání: '"Agboh, Wisdom C."'
Autor:
Adler, Aviv, Ahmad, Ayah, Wang, Shengyin, Agboh, Wisdom C., Llontop, Edith, Qiu, Tianshuang, Ichnowski, Jeffrey, Dogar, Mehmet, Kollar, Thomas, Cheng, Richard, Goldberg, Ken
This paper addresses the ''Teenager's Problem'': efficiently removing scattered garments from a planar surface. As grasping and transporting individual garments is highly inefficient, we propose analytical policies to select grasp locations for multi
Externí odkaz:
http://arxiv.org/abs/2310.16951
Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping (MOG) can
Externí odkaz:
http://arxiv.org/abs/2306.14021
Autor:
Agboh, Wisdom C., Sharma, Satvik, Srinivas, Kishore, Parulekar, Mallika, Datta, Gaurav, Qiu, Tianshuang, Ichnowski, Jeffrey, Solowjow, Eugen, Dogar, Mehmet, Goldberg, Ken
We consider a decluttering problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface and must be efficiently transported to a packing box using both single and multi-object grasps. Pr
Externí odkaz:
http://arxiv.org/abs/2210.07420
We consider a novel problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface visible from an overhead camera. The objective is to efficiently grasp and transport all objects into a b
Externí odkaz:
http://arxiv.org/abs/2206.00229
Autor:
Agboh, Wisdom C., Dogar, Mehmet R.
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use these met
Externí odkaz:
http://arxiv.org/abs/2105.08325
We address the manipulation task of retrieving a target object from a cluttered shelf. When the target object is hidden, the robot must search through the clutter for retrieving it. Solving this task requires reasoning over the likely locations of th
Externí odkaz:
http://arxiv.org/abs/2011.03334
Autor:
Hasan, Mohamed, Warburton, Matthew, Agboh, Wisdom C., Dogar, Mehmet R., Leonetti, Matteo, Wang, He, Mushtaq, Faisal, Mon-Williams, Mark, Cohn, Anthony G.
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with large num
Externí odkaz:
http://arxiv.org/abs/2002.12738
Publikováno v:
In: Asfour T., Yoshida E., Park J., Christensen H., Khatib O. (eds) Robotics Research. ISRR 2019. Springer Proceedings in Advanced Robotics, vol 20. Springer, Cham
We present a method for fast and accurate physics-based predictions during non-prehensile manipulation planning and control. Given an initial state and a sequence of controls, the problem of predicting the resulting sequence of states is a key compon
Externí odkaz:
http://arxiv.org/abs/1903.08470
Publikováno v:
Front. Robot. AI 8:686368 (2021)
We present O2A, a novel method for learning to perform robotic manipulation tasks from a single (one-shot) third-person demonstration video. To our knowledge, it is the first time this has been done for a single demonstration. The key novelty lies in
Externí odkaz:
http://arxiv.org/abs/1810.07483
Autor:
Agboh, Wisdom C., Dogar, Mehmet R.
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain, however, is likel
Externí odkaz:
http://arxiv.org/abs/1807.09049