We’re excited to be presenting two papers at CoRL this year!

“Simultaneous Learning of Contact and Continuous Dynamics,” by Bibit Bianchini and Mathew Halm, builds upon our prior work in data-efficient learning of contact dynamics to jointly learn (and disambiguate) the effects of contact and those of continuous forces, solely by observing an object’s motion.

“Vision-Based Contact Localization Without Touch or Force Sensing”, by Leon Kim and Yunshuang Li, with Dinesh Jayaraman, learns to identify and locate extrinsic contact between a held object and the environment. We use a single depth camera view, trained in simulation, and show surprising generality across different domains and the ability to make quality predictions despite occlusions.