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Richard Cheng

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Toyota Research Institute

Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach

Jan 03, 2024
Max Bajracharya, James Borders, Richard Cheng, Dan Helmick, Lukas Kaul, Dan Kruse, John Leichty, Jeremy Ma, Carolyn Matl, Frank Michel, Chavdar Papazov, Josh Petersen, Krishna Shankar, Mark Tjersland

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The Teenager's Problem: Efficient Garment Decluttering With Grasp Optimization

Oct 25, 2023
Aviv Adler, Ayah Ahmad, Shengyin Wang, Wisdom C. Agboh, Edith Llontop, Tianshuang Qiu, Jeffrey Ichnowski, Mehmet Dogar, Thomas Kollar, Richard Cheng, Ken Goldberg

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Bagging by Learning to Singulate Layers Using Interactive Perception

Mar 29, 2023
Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg

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Learning to Trace and Untangle Semi-planar Knots (TUSK)

Mar 15, 2023
Vainavi Viswanath, Kaushik Shivakumar, Jainil Ajmera, Mallika Parulekar, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg

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AutoBag: Learning to Open Plastic Bags and Insert Objects

Oct 31, 2022
Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg

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SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception

Sep 27, 2022
Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg

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Efficiently Learning Single-Arm Fling Motions to Smooth Garments

Jun 17, 2022
Lawrence Yunliang Chen, Huang Huang, Ellen Novoseller, Daniel Seita, Jeffrey Ichnowski, Michael Laskey, Richard Cheng, Thomas Kollar, Ken Goldberg

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Limits of Probabilistic Safety Guarantees when Considering Human Uncertainty

Mar 25, 2021
Richard Cheng, Richard M. Murray, Joel W. Burdick

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Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties

Apr 11, 2020
Richard Cheng, Mohammad Javad Khojasteh, Aaron D. Ames, Joel W. Burdick

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