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Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry


Apr 02, 2021
Siyuan Dong, Devesh K. Jha, Diego Romeres, Sangwoon Kim, Daniel Nikovski, Alberto Rodriguez


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Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements


Mar 24, 2021
Daolin Ma, Siyuan Dong, Alberto Rodriguez

* 6 pages, 8 figures, ICRA 2021 

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GelSlim3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger


Mar 23, 2021
Ian Taylor, Siyuan Dong, Alberto Rodriguez


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Planning for Multi-stage Forceful Manipulation


Jan 07, 2021
Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez

* For videos see: https://mcube.mit.edu/forceful-manipulation/ 

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Robotic Grasping of Fully-Occluded Objects using RF Perception


Dec 31, 2020
Tara Boroushaki, Junshan Leng, Ian Clester, Alberto Rodriguez, Fadel Adib


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iNeRF: Inverting Neural Radiance Fields for Pose Estimation


Dec 10, 2020
Lin Yen-Chen, Pete Florence, Jonathan T. Barron, Alberto Rodriguez, Phillip Isola, Tsung-Yi Lin

* Website: http://yenchenlin.me/inerf/ 

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Tactile Object Pose Estimation from the First Touch with Geometric Contact Rendering


Dec 09, 2020
Maria Bauza, Eric Valls, Bryan Lim, Theo Sechopoulos, Alberto Rodriguez

* CORL 2020, 5 figures + 2 in appendix Video: https://youtu.be/2ygtSJTmo08 

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A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects


Nov 16, 2020
Anthony Simeonov, Yilun Du, Beomjoon Kim, Francois R. Hogan, Joshua Tenenbaum, Pulkit Agrawal, Alberto Rodriguez

* Conference on Robot Learning (CoRL 2020): Project website: https://anthonysimeonov.github.io/rpo-planning-framework/ 

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Tactile SLAM: Real-time inference of shape and pose from planar pushing


Nov 13, 2020
Sudharshan Suresh, Maria Bauza, Kuan-Ting Yu, Joshua G. Mangelson, Alberto Rodriguez, Michael Kaess

* Under review as submission to the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021). For associated video file, see https://youtu.be/wdyagx5MM40 

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Long-Horizon Prediction and Uncertainty Propagation with Residual Point Contact Learners


Sep 08, 2020
Nima Fazeli, Anurag Ajay, Alberto Rodriguez

* 7 pages, 4 figures, ICRA 2020 submission accepted 

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Tactile Dexterity: Manipulation Primitives with Tactile Feedback


Feb 08, 2020
Francois R. Hogan, Jose Ballester, Siyuan Dong, Alberto Rodriguez


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Hybrid Differential Dynamic Programming for Planar Manipulation Primitives


Nov 10, 2019
Neel Doshi, Francois R. Hogan, Alberto Rodriguez


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Accurate Vision-based Manipulation through Contact Reasoning


Nov 08, 2019
Alina Kloss, Maria Bauza, Jiajun Wu, Joshua B. Tenenbaum, Alberto Rodriguez, Jeannette Bohg

* submitted to ICRA 2020 

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Hybrid Differential Dynamic Programming for Planar Manipulation Primitive


Nov 01, 2019
Neel Doshi, Francois R. Hogan, Alberto Rodriguez


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Cable Manipulation with a Tactile-Reactive Gripper


Oct 25, 2019
Yu She, Shaoxiong Wang, Siyuan Dong, Neha Sunil, Alberto Rodriguez, Edward Adelson

* submitted to ICRA2020 

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Omnipush: accurate, diverse, real-world dataset of pushing dynamics with RGB-D video


Oct 01, 2019
Maria Bauza, Ferran Alet, Yen-Chen Lin, Tomas Lozano-Perez, Leslie P. Kaelbling, Phillip Isola, Alberto Rodriguez

* IROS 2019, 8 pages, 7 figures 

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Tactile-Based Insertion for Dense Box-Packing


Sep 12, 2019
Siyuan Dong, Alberto Rodriguez


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Certified Grasping


Sep 09, 2019
Bernardo Aceituno-Cabezas, José Ballester, Alberto Rodriguez

* To appear in ISRR 2019 

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Graph Element Networks: adaptive, structured computation and memory


May 13, 2019
Ferran Alet, Adarsh K. Jeewajee, Maria Bauza, Alberto Rodriguez, Tomas Lozano-Perez, Leslie Pack Kaelbling

* Accepted to ICML 2019 

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Tactile Mapping and Localization from High-Resolution Tactile Imprints


Apr 24, 2019
Maria Bauza, Oleguer Canal, Alberto Rodriguez

* ICRA 2019, 7 pages, 7 figures. Website: http://web.mit.edu/mcube/research/tactile_localization.html Video: https://youtu.be/uMkspjmDbqs 

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Combining Physical Simulators and Object-Based Networks for Control


Apr 13, 2019
Anurag Ajay, Maria Bauza, Jiajun Wu, Nima Fazeli, Joshua B. Tenenbaum, Alberto Rodriguez, Leslie P. Kaelbling

* ICRA 2019; Project page: http://sain.csail.mit.edu 

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Dense Tactile Force Distribution Estimation using GelSlim and inverse FEM


Apr 08, 2019
Daolin Ma, Elliott Donlon, Siyuan Dong, Alberto Rodriguez

* 6 pages, 12 figures, Submitted to ICRA 2019 

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TossingBot: Learning to Throw Arbitrary Objects with Residual Physics


Mar 27, 2019
Andy Zeng, Shuran Song, Johnny Lee, Alberto Rodriguez, Thomas Funkhouser

* Summary Video: https://youtu.be/f5Zn2Up2RjQ Project webpage: https://tossingbot.cs.princeton.edu 

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In-Hand Manipulation via Motion Cones


Feb 23, 2019
Nikhil Chavan-Dafle, Rachel Holladay, Alberto Rodriguez

* Robotics : Science and Systems, 2018 (Best Student Paper Award Winner) 

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GP-SUM. Gaussian Processes Filtering of non-Gaussian Beliefs


Jan 30, 2019
Maria Bauza, Alberto Rodriguez

* WAFR 2018, 16 pages, 7 figures 

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Modular meta-learning in abstract graph networks for combinatorial generalization


Dec 19, 2018
Ferran Alet, Maria Bauza, Alberto Rodriguez, Tomas Lozano-Perez, Leslie P. Kaelbling

* Presented at NeurIPS meta-learning workshop 2018 

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Maintaining Grasps within Slipping Bound by Monitoring Incipient Slip


Oct 31, 2018
Siyuan Dong, Daolin Ma, Elliott Donlon, Alberto Rodriguez


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A Data-Efficient Approach to Precise and Controlled Pushing


Oct 09, 2018
Maria Bauza, Francois R. Hogan, Alberto Rodriguez

* CoRL 2018 
* Maria Bauza and Francois R. Hogan contributed equally to this work. 10 pages, 5 figures 

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