YuMi redundancy-parameterization paper validates arm-angle kinematics - 2025-05-29 - Research Publication - This paper covers YuMi redundancy-parameterization paper validates arm-angle kinematics for YuMi (IRB 14000 Dual-arm) in dexterity. - source: arxiv.org
A Unified Framework for Real-Time Failure Handling in Robotics Using Vision-Language Models, Reactive Planner and Behavior Trees - 2025-03-19 - Research Publication - Robotic systems often face execution failures due to unexpected obstacles, sensor errors, or environmental changes. - source: arxiv.org
Towards Autonomous Reinforcement Learning for Real-World Robotic Manipulation with Large Language Models - 2025-03-06 - Research Publication - Recent advancements in Large Language Models (LLMs) and Visual Language Models (VLMs) have significantly impacted robotics, enabling high-level semantic motion planning applications. - source: arxiv.org
DFL-TORO: A One-Shot Demonstration Framework for Learning Time-Optimal Robotic Manufacturing Tasks - 2023-09-18 - Research Publication - This paper presents DFL-TORO, a novel Demonstration Framework for Learning Time-Optimal Robotic tasks via One-shot kinesthetic demonstration. - source: arxiv.org
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision - 2022-06-29 - Research Publication - Commercial and industrial deployments of robot fleets at Amazon, Nimble, Plus One, Waymo, and Zoox query remote human teleoperators when robots are at risk or unable to make task progress. - source: arxiv.org
Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects - 2021-10-27 - Research Publication - The ability to grasp and manipulate transparent objects is a major challenge for robots. Existing depth cameras have difficulty detecting, localizing, and inferring the geometry of such objects. - source: arxiv.org
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning - 2021-03-31 - Research Publication - Corrective interventions while a robot is learning to automate a task provide an intuitive method for a human supervisor to assist the robot and convey information about desired behavior. - source: arxiv.org
Dynamic Movement Primitive based Motion Retargeting for Dual-Arm Sign Language Motions - 2020-11-08 - Research Publication - We aim to develop an efficient programming method for equipping service robots with the skill of performing sign language motions. - source: arxiv.org
X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions - 2020-04-20 - Research Publication - For applications in e-commerce, warehouses, healthcare, and home service, robots are often required to search through heaps of objects to grasp a specific target object. For mechanical search, we introduce X-Ray, an… - source: arxiv.org
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics - 2020-03-28 - Research Publication - Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific… - source: arxiv.org
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data - 2020-03-03 - Research Publication - Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation… - source: arxiv.org
Tactile Dexterity: Manipulation Primitives with Tactile Feedback - 2020-02-08 - Research Publication - This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions… - source: arxiv.org
Bayesian Optimization in Variational Latent Spaces with Dynamic Compression - 2019-07-10 - Research Publication - Data-efficiency is crucial for autonomous robots to adapt to new tasks and environments. In this work we focus on robotics problems with a budget of only 10-20 trials. - source: arxiv.org
Dexterous Manipulation Graph paper demonstrates dual-arm regrasping on ABB YuMi - 2019-04-25 - Research Publication - This paper covers Dexterous Manipulation Graph paper demonstrates dual-arm regrasping on ABB YuMi for YuMi (IRB 14000 Dual-arm) in dexterity. - source: arxiv.org
Neural Network Model for Identifying Workspace, Forward and Inverse Kinematics of the 7-DOF YuMi 14000 ABB Collaborative Robot - 2019-01-01 - Research Publication - This model covers Neural Network Model for Identifying Workspace, Forward and Inverse Kinematics of the 7-DOF YuMi 14000 ABB Collaborative Robot for YuMi (IRB 14000 Dual-arm) in dexterity. - source: doi.org
Global Search with Bernoulli Alternation Kernel for Task-oriented Grasping Informed by Simulation - 2018-10-10 - Research Publication - The method uses simulation-informed Bayesian optimization and real YuMi trials to find task-appropriate grasps for novel objects. - source: arxiv.org
Dex-Net 3.0: Computing Robust Robot Vacuum Suction Grasp Targets in Point Clouds using a New Analytic Model and Deep Learning - 2017-09-19 - Research Publication - Vacuum-based end effectors are widely used in industry and are often preferred over parallel-jaw and multifinger grippers due to their ability to lift objects with a single point of contact. Suction grasp planners often… - source: arxiv.org
Dual quaternion based kinematic control for Yumi dual arm robot - 2017-06-01 - Research Publication - The URAI paper presents dual-quaternion kinematic control for the YuMi dual-arm robot. - source: doi.org
Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics - 2017-03-27 - Research Publication - To reduce data collection time for deep learning of robust robotic grasp plans, we explore training from a synthetic dataset of 6. 7 million point clouds, grasps, and analytic grasp metrics generated from thousands of 3D… - source: arxiv.org