In our latest work Dexfriut dex-fruit.github.io we explore how our densetact sensor enables gentle manipulation of produce with many interactions and a quantitative visual metric leveraging Gaussian Splats to monitor damage on produce.
2/n
We use Gaussian Splats for safe robot navigation: Splats model the scene, and their Gaussians act as repulsive barriers via control barrier functions to prevent collisions given requested inputs from the human teleoperator.
1/n
"A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps" Timothy Chen, Aiden Swann, Javier Yu, Ola Shorinwa, Riku Murai, Monroe Kennedy, Mac Schwager
#ICRA2025
ICRA Presentation day/location: 08:40 - 08:45 | Thu 22 May | 406 | ThAT18.3
Website: lnkd.in/gHA_NzEv
2/n We efficiently build a high-quality Gaussian Splat by capturing initial views, generating a Splat, and using pose uncertainty in color and depth to guide the next best real-world view for scene reconstruction.
@peasant98.bsky.social
1/n
"Next Best Sense: Guiding Vision and Touch with FisherRF for 3D Gaussian Splatting" Matthew Strong, Boshu Lei, Aiden Swann, Wen Jiang, Kostas Daniilidis, Monroe Kennedy
#ICRA2025!
ICRA Pres: 15:35 - 15:40 | Tue 20 May | 316 | TuCT13.5
Website: lnkd.in/g8DNUR2k
Video: lnkd.in/g7FfU8FD
JPARSE for handling robot manipulator singularities!
jparse-manip.github.io
#AcademicSky #EDUSky #Robots
youtu.be/ZMrNGQht9eg?...
(6/n) To learn more, read our paper and use our open-source code base, check out our interactive paper website: jparse-manip.github.io
(5/n) Our method J-PARSE stands to improve robotic teleoperation control, improve embodiment in imitation learning, and allow robot upper limbs to move in a more 'natural' way like human counterparts.
(4/n) This approach is motivated by the anthropomorphic motion of athletes such as baseball players who extend their hand towards their target for catching a ball, and they only consider the motion of their hand in this fast motion control.
(3/n) Fewer methods still take you into singular poses and require very specific knowledge of the robot and its particular singular poses, as well as an accompanying strategy to exit these poses.
(2/n) Robot manipulator singularities have been a challenge for roboticists for decades. Over the years, there have been many approaches to primarily avoid them and, in a few cases (such as damped least squares), approach them, albeit sacrificing pose accuracy at non-singular poses.
(1/n) In our work, J-PARSE @sguptasarma.bsky.social @peasant98.bsky.social @hao12450.bsky.social provide a method of entering singular poses, and if you start extremely close to singular poses (small float point value), the ability to exit the singular configuration as well.
jparse-manip.github.io
(6/n) To learn more, read our paper and use our open-source code base, check out our interactive paper website: jparse-manip.github.io and our paper video: youtu.be/ZMrNGQht9eg?...
(5/n) Our method J-PARSE stands to improve robotic teleoperation control, improve embodiment in imitation learning, and allow robot upper limbs to move in a more 'natural' way like human counterparts.
(4/n) This approach is motivated by the anthropomorphic motion of athletes such as baseball players who extend their hand towards their target for catching a ball, and they only consider the motion of their hand in this fast motion control.
(3/n) Fewer methods still take you into singular poses and require very specific knowledge of the robot and its particular singular poses, as well as an accompanying strategy to exit these poses.
(2/n) Robot manipulator singularities have been a challenge for roboticists for decades. Over the years, there have been many approaches to primarily avoid them and, in a few cases (such as damped least squares), approach them, albeit sacrificing pose accuracy at non-singular poses.
Black in Robotics Student Travel Fellowships due 1/17/25
#BlackInRobotics #Fellowships #Awards @blackinengineering.bsky.social @blackinx.bsky.social
blackinrobotics.org/bir-student-...
Latex (overleaf) is the way! Handles formatting and reference styles. For ref.bib:
\documentclass{article}
\usepackage[utf8]{inputenc}
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This is a citation \cite{example}.
\bibliographystyle{apa} % Switch this to "vancouver" or another style
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Collaborative #Robotics is the next frontier! The last few decades have focused on robotic autonomy, and we have seen some amazing things. But it's time for #Robotics to get to the hard tasks, less gimmicks, and more practical assistance and teammate understanding.
www.science.org/doi/full/10....
Our work appeared in #CORL2024
#GaussianSplat are a fantastic new tool to visually represent a scene. By combining them with language models and semantics #Robots can perform manipulation tasks on command. Read more here: splatmover.github.io
#Robotics #Nerfs #research
Humans grasp objects from flat surfaces using a variety of methods: tapping, fingernail, pinch. Can #Robotics do the same? Check out our nominated best paper DenseTact-mini in #icra2024 that explores this: sites.google.com/view/denseta...
#BlackSky #BlackSTEM #WomenSTEM #BlackInRobotics #BlackEduSky #AcademicSky #EduSky #BlackInX
Now available
blackinrobotics.org/bir-3m-ms-st... #BlackInRobotics #MSFellowship
#Robotics can greatly improve #Prosthetics by endowing them with intelligence through advanced situational awareness and human intent estimation. Our work "ProACT: An Augmented Reality Testbed for Intelligent Prosthetic Arms" presents a virtual tested and control methods arm.stanford.edu/proact
#Robotics #wearable #motionPrediction #assistiveRobotics
Can a wearable sensor predict where you might walk? We present "Egocentric Scene-aware Human Trajectory Prediction" predicting someone's path from a front facing camera leveraging semantic information in the scene, learn more here: mmego.weizhuowang.com
#BlackSky #BlackSTEM #WomenSTEM #BlackInRobotics #BlackEduSky #AcademicSky #EduSky #BlackInX
Now available
blackinrobotics.org/bir-3m-ms-st... #BlackInRobotics #MSFellowship
