To Stir or Not to Stir: Online Estimation of Liquid Properties for Pouring Actions.NeurIPS Workshop on Modeling the Physical World: Perception, Learning, and Control, 2018. [Slides][Publisher’s link][arXiv link] Our brains are able to exploit coarse physical models of fluids to solve everyday manipulation tasks. There has been considerable interest in developing such a capability in […]

Adaptable Pouring: Teaching Robots Not to Spill using Fast but Approximate Fluid Simulation. Conference on Robot Learning (CoRL), 2017. [Slides][Publisher’s link] Humans manipulate fluids intuitively using intuitive approximations of the underlying physical model. In this paper, we explore a general methodology that robots may use to develop and improve strategies for overcoming manipulation tasks associated with […]