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Robust Planning for Multi-stage Forceful Manipulation


Jul 30, 2022
Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez

* Manuscript under review. Supplemental Video: https://www.youtube.com/watch?v=r1L-gxufFuY 

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Tac2Pose: Tactile Object Pose Estimation from the First Touch


Apr 25, 2022
Maria Bauza, Antonia Bronars, Alberto Rodriguez

* Submitted to IJRR, 21 pages + Appendix, 10 figures 

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NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields


Mar 03, 2022
Lin Yen-Chen, Pete Florence, Jonathan T. Barron, Tsung-Yi Lin, Alberto Rodriguez, Phillip Isola

* ICRA 2022, Website: https://yenchenlin.me/nerf-supervision/ 

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Manipulation of unknown objects via contact configuration regulation


Mar 02, 2022
Neel Doshi, Orion Taylor, Alberto Rodriguez

* Authors contributed equally, names listed in alphabetical order. In press, ICRA 2022 

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Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation


Dec 09, 2021
Anthony Simeonov, Yilun Du, Andrea Tagliasacchi, Joshua B. Tenenbaum, Alberto Rodriguez, Pulkit Agrawal, Vincent Sitzmann

* Website: https://yilundu.github.io/ndf/. First two authors contributed equally (order determined by coin flip), last two authors equal advising 

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A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation


Nov 09, 2021
Bernardo Aceituno, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam

* Presented at CORL 2021 

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Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertion


Oct 07, 2021
Sangwoon Kim, Alberto Rodriguez


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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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