Weekly Updates

Aditya Kamireddypalli

Contact Sensor

Nov 22nd

  • Diwali break
  • Roscon 2024

 

Research

  • Report statistics on existing system, scripted patterns and LfD
  • voxblox and trajectory synthesis
  • update voxblox with contact information.

Progress Oct 17th

  • Real Robot setup - Done
  • LfD Setup - Done
  • Formulation
    • Scene Reprenstation
    • Scene Estimation

Progress Oct 3rd

  • Real Robot setup
  • LfD Setup
  • Formulation
    • Scene Reprenstation
    • Scene Estimation

Progress May 31st

Peg Insertion System - P1

  • Integrated MultiDiGraph instead of the Queue representation inside the BT.

Working on

  • Force thresholding for prismatic motion
  • Failure reacrtivity within BT
  • Local search - Utilising Implicit Surfaces

Force reasoning formulation - P2

  • Writing and reading
  • Forceful Kinematic Chain

Baselines - P3

  • Sequential dexterity
  • SERL

Progress July 18th

Peg Insertion System

  • What do I have? - Factor Graph integration with real robot. 

Working on

  • Setting up search problem. This will be with force reasoning
  • Real Robot infrastructure - F/T sensors - using onRobot sensors until ATI arrive

Force reasoning formulation - P2

  • Forceful Kinematic Chain - using analytical model limit surfaces. Motivating data driven models.

Baselines - P3

  • SERL

Progress May 9th

Peg Insertion Demo - P1

  • Integrating Behaviour Tree and Factor Graph for Kinematic Guard Conditions.

Force reasoning formulation

  • Writing and reading
  • Forceful Kinematic Chain

Baselines - P2

  • Sequential dexterity
  • SERL

Teleop

BT-KM-FG

Progress May 9th

Teleop

Progress May 9th

Teleop

BT-KM-FG

Open Loop

Progress May 9th

Teleop

BT-KM-FG

Progress May 1st

Peg Insertion Demo - P1

  • Space mouse for teleoperation data collection - Done
  • Factor Graph Inference of free space kinematic motion - Done.
  • Integrating Behaviour Tree and Factor Graph as Guard Conditions - Todo

Force reasoning

Baselines - P2

Update April 24th

Peg Insertion task - P1

  • Space mouse for teleoperation data collection
  • Collect data for Kinematic Factor Graph - Kinesthetic Demonstrations
  • Fleshing out ideas on Dynamics Factor Graph

Baselines - P2

  • Same setup to be used for collecting data
  • Train DrQ on Peg Insertion Task
  • Todo:
    • Gpu inference during deployment.
    • Camera setup for training and deployment.

Update April 19th

Work past weeks:

  • SERL control stack ROS1

  • Variable Impedance Control ROS1

​Work upcoming week

  • Basic demonstration of Factor Graph reasoning
    • Pick a low stiffness controller for approach
    • Pick a higher stiffness controller for insert
    • Show switching behaviour after kinematic alignment
    • Write up
  • Policy baselines

 

VIC - ROS1

Gravity Compensation

Cartesian Stiffness Controller

Translation - H.stiff

Rotation - L.stiff

Rotation stiffness