Linear Push Policies to Increase Grasp Access for Robot Bin Picking
Published in IEEE International Conference on Automation Science and Engineering (CASE), 2018.
Posts by Collection
publications
Learning Ambidextrous Robot Grasping Policies
Published in Science Robotics, 2019.
Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter
Published in IEEE International Conference on Robotics and Automation (ICRA), 2019.
Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Data
Published in IEEE International Conference on Robotics and Automation (ICRA), 2019.
Adversarial Grasp Objects
Published in IEEE International Conference on Automation Science and Engineering (CASE), 2019.
Automating Planar Object Singulation by Linear Pushing with Single-point and Multi-point Contacts
Published in IEEE International Conference on Automation Science and Engineering (CASE), 2019.
Robust Toppling for Vacuum Suction Grasping
Published in IEEE International Conference on Automation Science and Engineering (CASE), 2019.
REACH: Reducing False Negatives in Robot Grasp Planning with a Robust Efficient Area Contact Hypothesis Model
Published in International Symposium on Robotics Research (ISRR), 2019.
Efficiently Planning Soft Non-Planar Area Contact Grasps using 6D Friction Cones
Published in IEEE International Conference on Robotics and Automation (ICRA), 2020.
GOMP: Grasp-Optimized Motion Planning for Bin Picking
Published in IEEE International Conference on Robotics and Automation (ICRA), 2020.
Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects
Published in IEEE International Conference on Robotics and Automation (ICRA), 2020.
Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking
Published in IEEE Conference on Automation Science and Engineering (CASE), 2020.
One-Shot Shape-Based Amodal-to-Modal Instance Segmentation
Published in IEEE Conference on Automation Science and Engineering (CASE), 2020.
Robust Task-Based Grasping as a Service
Published in IEEE Conference on Automation Science and Engineering (CASE), 2020.
Accelerating Grasp Exploration by Leveraging Learned Priors
Published in IEEE Conference on Automation Science and Engineering (CASE), 2020.
X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects
Published in Conference on Robot Learning (CoRL), 2020.
Object Rearrangement Using Learned Implicit Collision Functions
Published in IEEE International Conference on Robotics and Automation (ICRA), 2021.
AVPLUG: Approach Vector PLanning for Unicontact Grasping amid Clutter
Published in IEEE Conference on Automation Science and Engineering (CASE), 2021.
FogROS: An Adaptive Framework for Automating Fog Robotics Deployment
Published in IEEE Conference on Automation Science and Engineering (CASE), 2021.
Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities
Published in IEEE Conference on Automation Science and Engineering (CASE), 2021.
Mechanical Search on Shelves using Lateral Access X-RAY
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
Simulation of Parallel-Jaw Grasping using Incremental Potential Contact Models
Published in IEEE International Conference on Robotics and Automation (ICRA), 2022.
LEGS: Learning Efficient Grasp Sets for Exploratory Grasping
Published in IEEE International Conference on Robotics and Automation (ICRA), 2022.
Mechanical Search on Shelves using a Novel “Bluction” Tool
Published in IEEE International Conference on Robotics and Automation (ICRA), 2022.
Optimal Shelf Arrangement to Minimize Robot Retrieval Time
Published in IEEE Conference on Automation Science and Engineering (CASE), 2022.
Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects
Published in International Symposium on Robotics Research (ISRR), 2022.
FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2
To appear at IEEE International Conference on Robotics and Automation (ICRA), 2023.
teaching
CS 188: Introduction to Artificial Intelligence
Undergraduate Course, UC Berkeley, Department of Computer Science, 2019
EECS 16B: Designing Information Devices and Systems II
Undergraduate Course, UC Berkeley, Department of Computer Science, 2021