RCTA/RoMan

Autonomous manipulation and mobility in unstructured terrain.

Period of Performance: 2016–2021

Role: Task leader

Additional Contributors: Publication authors (see References below).

Funded by ARL.

Autonomous manipulation and mobility in unstructured terrain.

Period of Performance: 2016–2021

Role: Task leader

Additional Contributors: Publication authors (see References below).

Funded by ARL.

In this project, I led the development of an autonomous manipulation controller capable of autonomously deconstructing piles of unknown debris. The robot, a tracked bi-manual robot, autonomously located debris blocking its path, and manually extracted them to clear a path.

(Detry et al., 2017; Detry et al., 2017; Detry et al., 2017; Detry et al., 2017; Kessens et al., 2022; Bowkett et al., 2022; Bowkett et al., 2018)

References

Human-Scale Mobile Manipulation Using RoMan.

Chad C. Kessens, Matthew Kaplan, Trevor Rocks, Philip R. Osteen, John Rogers, Ethan Stump, Arnon Hurwitz, Jonathan Fink, Long Quang, Mark Gonzalez, Jaymit Patel, Michael DiBlasi, Shiyani Patel, Matthew Weiker, Dilip Patel, Joseph Bowkett, Renaud Detry, Sisir Karumanchi, Larry Matthies, Joel Burdick, Yash Oza, Aditya Agarwal, Andrew Dornbush, Dhruv Mauria Saxena, Maxim Likhachev, Karl Schmeckpeper, Kostas Daniilidis, Ajinkya Kamat, Aditya Mandalika, Sanjiban Choudhury, and Siddhartha S. Srinivasa.

Field Robotics, 2022.

Bib DOI PDF
@article{kessens2022q, author = {Kessens, Chad C. and Kaplan, Matthew and Rocks, Trevor and Osteen, Philip R. and Rogers, John and Stump, Ethan and Hurwitz, Arnon and Fink, Jonathan and Quang, Long and Gonzalez, Mark and Patel, Jaymit and DiBlasi, Michael and Patel, Shiyani and Weiker, Matthew and Patel, Dilip and Bowkett, Joseph and Detry, Renaud and Karumanchi, Sisir and Matthies, Larry and Burdick, Joel and Oza, Yash and Agarwal, Aditya and Dornbush, Andrew and Saxena, Dhruv Mauria and Likhachev, Maxim and Schmeckpeper, Karl and Daniilidis, Kostas and Kamat, Ajinkya and Mandalika, Aditya and Choudhury, Sanjiban and Srinivasa, Siddhartha S.}, title = {Human-Scale Mobile Manipulation Using RoMan}, year = {2022}, doi = {10.55417/fr.2022041}, journal = {Field Robotics}, pages = {1232–1262}, volume = {2}, }

Grasping and Transport of Unstructured Collections of Massive Objects.

Joseph Bowkett, Sisir Karumanchi, and Renaud Detry.

Field Robotics, 2022.

Bib

DOI

PDF

@article{bowkett2022q,
  author = {Bowkett, Joseph and Karumanchi, Sisir and Detry, Renaud},
  title = {Grasping and Transport of Unstructured Collections of Massive Objects},
  year = {2022},
  doi = {10.55417/fr.2022014},
  journal = {Field Robotics},
  pages = {385–405},
  volume = {2},
}

Semantic Understanding of Task Outcomes: Visually Identifying Failure Modes Autonomously Discovered in Simulation.

Joseph Bowkett, Joel Burdick, Larry Matthies, and Renaud Detry.

In Representing a Complex World: Perception, Inference, and Learning for Joint Semantic, Geometric, and Physical Understanding (ICRA 2018 Workshop), 2018.

Bib

PDF

@inproceedings{bowkett2018a,
  author = {Bowkett, Joseph and Burdick, Joel and Matthies, Larry and Detry, Renaud},
  title = {Semantic Understanding of Task Outcomes: Visually Identifying Failure Modes Autonomously Discovered in Simulation},
  year = {2018},
  booktitle = {Representing a Complex World: Perception, Inference, and Learning for Joint Semantic, Geometric, and Physical Understanding (ICRA 2018 Workshop)},
}

Learning to Grasp with a Deep Network for 2D Context and Geometric Prototypes for 3D Structure.

Renaud Detry, Jeremie Papon, and Larry Matthies.

In Learning and control for autonomous manipulation systems: the role of dimensionality reduction (ICRA 2017 Workshop), 2017.

Bib

PDF

@inproceedings{detry2017a,
  author = {Detry, Renaud and Papon, Jeremie and Matthies, Larry},
  title = {Learning to Grasp with a Deep Network for 2D Context and Geometric Prototypes for 3D Structure},
  year = {2017},
  booktitle = {Learning and control for autonomous manipulation systems: the role of dimensionality reduction (ICRA 2017 Workshop)},
}

Semantic and Geometric Scene Understanding for Task-oriented Grasping of Novel Objects from a Single View.

Renaud Detry, Jeremie Papon, and Larry Matthies.

In Learning and control for autonomous manipulation systems: the role of dimensionality reduction (ICRA 2017 Workshop), 2017.

Bib

PDF

@inproceedings{detry2017b,
  author = {Detry, Renaud and Papon, Jeremie and Matthies, Larry},
  title = {Semantic and Geometric Scene Understanding for Task-oriented Grasping of Novel Objects from a Single View},
  year = {2017},
  booktitle = {Learning and control for autonomous manipulation systems: the role of dimensionality reduction (ICRA 2017 Workshop)},
}

Task-oriented Grasping with Semantic and Geometric Scene Understanding.

Renaud Detry, Jeremie Papon, and Larry Matthies.

In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017 (Best Paper Award in Cognitive Robotics).

Bib

DOI

PDF

@inproceedings{detry2017c,
  author = {Detry, Renaud and Papon, Jeremie and Matthies, Larry},
  title = {Task-oriented Grasping with Semantic and Geometric Scene Understanding},
  year = {2017},
  booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
  doi = {https://doi.org/10.1109/IROS.2017.8206162},
}

Semantic and Geometric Scene Understanding for Single-view Task-oriented Grasping of Novel Objects.

Renaud Detry, Jeremie Papon, and Larry Matthies.

In Workshop on Spatial-Semantic Representations in Robotics (RSS 2017 Workshop), 2017.

Bib

PDF

@inproceedings{detry2017d,
  author = {Detry, Renaud and Papon, Jeremie and Matthies, Larry},
  title = {Semantic and Geometric Scene Understanding for Single-view Task-oriented Grasping of Novel Objects},
  year = {2017},
  booktitle = {Workshop on Spatial-Semantic Representations in Robotics (RSS 2017 Workshop)},
}