We propose CAPGrasp, an 6-Degrees of Freedom (DoF) continuous approach-constrained
generative grasp sampler. It includes a novel learning strategy for training CAPGrasp that …

This article presents an approach for assisted teleoperation of a robot arm, formulated within
a real-time stack-of-tasks (SoT) whole-body motion control framework. The approach …

Grasp coordination is crucial for performing cooperative object manipulation tasks. Planning
cooperative grasps among a group of decentralized robots is a new line of coordination …

The robustness of the positioning and posturing of robot hands relative to target object and
support surface is an important issue for autonomous gras**. For example, to perform a …

This work addresses the problem of learning approach-constrained data-driven grasp
samplers. To this end, we propose GoNet: a generative grasp sampler that can constrain the …

Voxel volumes are simple to implement and lend themselves to many of the tools and
algorithms available for 2D images. However, the additional dimension of voxels may be …

This thesis is concerned with topics related to dense map** of large scale three-
dimensional spaces. In particular, the motivating scenario of this work is one in which a …