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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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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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Integrated Task and Motion Planning


Oct 02, 2020
Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay, Beomjoon Kim, Tom Silver, Leslie Pack Kaelbling, Tomás Lozano-Pérez

* Accepted to the Annual Review of Control, Robotics, and Autonomous Systems. Vol. 4 (Volume publication date May 2021) 

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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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Minimizing Task Space Frechet Error via Efficient Incremental Graph Search


Sep 10, 2018
Rachel Holladay, Oren Salzman, Siddhartha Srinivasa


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Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching


Apr 01, 2018
Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, Thomas Funkhouser, Alberto Rodriguez

* To appear at the International Conference on Robotics and Automation (ICRA) 2018. Project webpage: http://arc.cs.princeton.edu Summary video: https://youtu.be/6fG7zwGfIkI 

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