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 Differentiable Contact Dynamics for Stable Object Placement Under Geometric UncertaintiesIEEE Robotics and Automation Letters (RA-L), 2024 |
 FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under UncertaintyIEEE Robotics and Automation Letters (RA-L), 2024 Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola |
 Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with
Online Admittance Residual LearningConference on Robot Learning (CoRL), 2023 |
 CFVS: Coarse-to-Fine Visual Servoing for 6-DoF Object-Agnostic
Peg-In-Hole AssemblyIEEE International Conference on Robotics and Automation (ICRA), 2022 |
 Trajectory Optimization for Manipulation of Deformable Objects: Assembly
of Belt Drive UnitsIEEE International Conference on Robotics and Automation (ICRA), 2021 |
