Zobrazeno 1 - 10
of 24
pro vyhledávání: '"Avigal, Yahav"'
Autor:
Tam, Zachary, Dharmarajan, Karthik, Qiu, Tianshuang, Avigal, Yahav, Ichnowski, Jeffrey, Goldberg, Ken
In logistics, the ability to quickly compute and execute pick-and-place motions from bins is critical to increasing productivity. We present Bin-Optimized Motion Planning (BOMP), a motion planning framework that plans arm motions for a six-axis indus
Externí odkaz:
http://arxiv.org/abs/2411.00221
Autor:
Schorp, Vincent, Panitch, Will, Shivakumar, Kaushik, Viswanath, Vainavi, Kerr, Justin, Avigal, Yahav, Fer, Danyal M, Ott, Lionel, Goldberg, Ken
Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue. In this work
Externí odkaz:
http://arxiv.org/abs/2307.06845
Autor:
Dharmarajan, Karthik, Panitch, Will, Jiang, Muyan, Srinivas, Kishore, Shi, Baiyu, Avigal, Yahav, Huang, Huang, Low, Thomas, Fer, Danyal, Goldberg, Ken
Vascular shunt insertion is a fundamental surgical procedure used to temporarily restore blood flow to tissues. It is often performed in the field after major trauma. We formulate a problem of automated vascular shunt insertion and propose a pipeline
Externí odkaz:
http://arxiv.org/abs/2211.02293
Autor:
Shivakumar, Kaushik, Viswanath, Vainavi, Gu, Anrui, Avigal, Yahav, Kerr, Justin, Ichnowski, Jeffrey, Cheng, Richard, Kollar, Thomas, Goldberg, Ken
Cables are commonplace in homes, hospitals, and industrial warehouses and are prone to tangling. This paper extends prior work on autonomously untangling long cables by introducing novel uncertainty quantification metrics and actions that interact wi
Externí odkaz:
http://arxiv.org/abs/2209.13706
Folding garments reliably and efficiently is a long standing challenge in robotic manipulation due to the complex dynamics and high dimensional configuration space of garments. An intuitive approach is to initially manipulate the garment to a canonic
Externí odkaz:
http://arxiv.org/abs/2208.10552
Suction cup grasping is very common in industry, but moving too quickly can cause suction cups to detach, causing drops or damage. Maintaining a suction grasp throughout a high-speed motion requires balancing suction forces against inertial forces wh
Externí odkaz:
http://arxiv.org/abs/2203.08359
Autor:
Presten, Mark, Avigal, Yahav, Theis, Mark, Sharma, Satvik, Parikh, Rishi, Aeron, Shrey, Mukherjee, Sandeep, Oehme, Sebastian, Adebola, Simeon, Teitelbaum, Walter, Kamat, Varun, Goldberg, Ken
This paper presents AlphaGarden: an autonomous polyculture garden that prunes and irrigates living plants in a 1.5m x 3.0m physical testbed. AlphaGarden uses an overhead camera and sensors to track the plant distribution and soil moisture. We model i
Externí odkaz:
http://arxiv.org/abs/2111.06014
High-speed motions in pick-and-place operations are critical to making robots cost-effective in many automation scenarios, from warehouses and manufacturing to hospitals and homes. However, motions can be too fast -- such as when the object being tra
Externí odkaz:
http://arxiv.org/abs/2110.15326
The ability to grasp and manipulate transparent objects is a major challenge for robots. Existing depth cameras have difficulty detecting, localizing, and inferring the geometry of such objects. We propose using neural radiance fields (NeRF) to detec
Externí odkaz:
http://arxiv.org/abs/2110.14217
Recent consumer demand for home robots has accelerated performance of robotic grasping. However, a key component of the perception pipeline, the depth camera, is still expensive and inaccessible to most consumers. In addition, grasp planning has sign
Externí odkaz:
http://arxiv.org/abs/2009.08618