Preiss, James A.; Millard, David; Yao, Tao; Sukhatme, Gaurav S.: Tracking Fast Trajectories with a Deformable Object using a Learned Model. 2022 International Conference on Robotics and Automation, ICRA 2022, Philadelphia, PA, USA, May 23-27, 2022, pp. 1351-1357, IEEE, 2022
Millard, David; Preiss, James A.; Barbic, Jernej; Sukhatme, Gaurav S.: Parameter Estimation for Deformable Objects in Robotic Manipulation Tasks. Billard, Aude; Asfour, Tamim; Khatib, Oussama (Ed.): Robotics Research - The 20th International Symposium ISRR 2022, Geneva, Switzerland, 25-30 September 2022, pp. 239-251, Springer, 2022
Salhotra, Gautam; Liu, I-Chun Arthur; Dominguez-Kuhne, Marcus; Sukhatme, Gaurav S.: Learning Deformable Object Manipulation From Expert Demonstrations. IEEE Robotics Autom. Lett., vol. 7, no. 4, pp. 8775-8782, 2022
Heiden, Eric; Liu, Ziang; Vineet, Vibhav; Coumans, Erwin; Sukhatme, Gaurav S.: Inferring Articulated Rigid Body Dynamics from RGBD Video. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 8383-8390, IEEE, 2022
Tang, Bingjie; Sukhatme, Gaurav S.: Selective Object Rearrangement in Clutter. Liu, Karen; Kulic, Dana; Ichnowski, Jeffrey (Ed.): Conference on Robot Learning, CoRL 2022, 14-18 December 2022, Auckland, New Zealand, pp. 1001-1010, PMLR, 2022
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Su, Zhe; Kroemer, Oliver; Loeb, Gerald E.; Sukhatme, Gaurav S.; Schaal, Stefan: Learning Manipulation Graphs from Demonstrations Using Multimodal Sensory Signals. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, May 21-25, 2018, pp. 2758-2765, IEEE, 2018
Su, Zhe; Hausman, Karol; Chebotar, Yevgen; Molchanov, Artem; Loeb, Gerald E.; Sukhatme, Gaurav S.; Schaal, Stefan: Force estimation and slip detection/classification for grip control using a biomimetic tactile sensor. 15th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2015, Seoul, South Korea, November 3-5, 2015, pp. 297-303, IEEE, 2015
Gupta, Megha; Mþller, Jürg; Sukhatme, Gaurav S.: Using Manipulation Primitives for Object Sorting in Cluttered Environments. IEEE Trans Autom. Sci. Eng., vol. 12, no. 2, pp. 608-614, 2015
Bhattacharya, Subhrajit; Kim, Soonkyum; Heidarsson, Hordur Kristinn; Sukhatme, Gaurav S.; Kumar, Vijay: A topological approach to using cables to separate and manipulate sets of objects. Int. J. Robotics Res., vol. 34, no. 6, pp. 799-815, 2015
Righetti, Ludovic; Kalakrishnan, Mrinal; Pastor, Peter; Binney, Jonathan; Kelly, Jonathan; Voorhies, Randolph; Sukhatme, Gaurav S.; Schaal, Stefan: An autonomous manipulation system based on force control and optimization. Auton. Robots, vol. 36, no. 1-2, pp. 11-30, 2014
Kim, Soonkyum; Bhattacharya, Subhrajit; Heidarsson, Hordur Kristinn; Sukhatme, Gaurav S.; Kumar, Vijay: A Topological Approach to Using Cables to Separate and Manipulate Sets of Objects. Newman, Paul; Fox, Dieter; Hsu, David (Ed.): Robotics: Science and Systems IX, Technische Universitît Berlin, Berlin, Germany, June 24 - June 28, 2013, 2013
Williams, Ryan K.; Gasparri, Andrea; Priolo, Attilio; Sukhatme, Gaurav S.: Distributed combinatorial rigidity control in multi-agent networks. Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, December 10-13, 2013, pp. 6061-6066, IEEE, 2013
Gupta, Megha; Sukhatme, Gaurav S.: Using manipulation primitives for brick sorting in clutter. IEEE International Conference on Robotics and Automation, ICRA 2012, 14-18 May, 2012, St. Paul, Minnesota, USA, pp. 3883-3889, IEEE, 2012
Borgstrom, Per Henrik; Batalin, Maxim A.; Sukhatme, Gaurav S.; Kaiser, William J.: Weighted barrier functions for computation of force distributions with friction cone constraints. IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010, pp. 785-792, IEEE, 2010
Kim, Laehyun; Sukhatme, Gaurav S.; Desbrun, Mathieu: Haptic Editing of Decoration and Material Propertie. 11th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2003), 22-23 March 2003, Los Angeles, CA, USA, Proceedings, pp. 213-220, IEEE Computer Society, 2003
Sukhatme, Gaurav S.; Mataric, Maja J.: Robots: Intelligence, Versatility, Adaptivity – Introduction. Commun. ACM, vol. 45, no. 3, pp. 30-32, 2002
Kim, Laehyun; Kyrikou, Anna; Sukhatme, Gaurav S.; Desbrun, Mathieu: An implicit-based haptic rendering technique. IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30 - October 4, 2002, pp. 2943-2948, IEEE, 2002
Iberall, Thea; Sukhatme, Gaurav S.; Beattie, Denise; Bekey, George A.: Control philosophy and simulation of a robotic hand as a model for prosthetic hands. Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1993, Tokyo, Japan, July 26 - 30, 1993, pp. 824-831, IEEE, 1993
A novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations.
An image-based, learned method for selective tabletop object rearrangement in clutter using a parallel jaw gripper.
