arXiv subjects

Carolyn Chen

Publications and source records attributed to Carolyn Chen.

3 recordsLinked to original sources

arXiv2026

Practical Insights on Grasp Strategies for Mobile Manipulation in the Wild

Mobile manipulation robots are continuously advancing, with their grasping capabilities rapidly progressing. However, there are still significant gaps preventing state-of-the-art mobile manipulators from widespread real-world deployments, including their ability to reliably grasp items in unstructured environments. To help bridge this gap, we developed SHOPPER, a mobile manipulation robot platform designed to push the boundaries of reliable and generalizable grasp strategies. We develop these grasp strategies and deploy them in a real-world grocery store -- an exceptionally challenging setting chosen for its vast diversity of manipulable items, fixtures, and layouts. In this work, we present our detailed approach to designing general grasp strategies towards picking any item in a real grocery store. Additionally, we provide an in-depth analysis of our latest real-world field test, discussing key findings related to fundamental failure modes over hundreds of distinct pick attempts. Through our detailed analysis, we aim to offer valuable practical insights and identify key grasping challenges, which can guide the robotics community towards pressing open problems in the field.

cs.RO↗

arXiv2018

Which is better, a SCoTSS gamma imager, or an ARDUO UAV-borne directional detector?

The SiPM-based Compton Telescope for Safety and Security (SCoTSS) has been developed with inorganic crystalline scintillator material for gamma detection. The instrument is sensitive enough to be used in a mobile survey mode, accumulating energy deposited in any crystal second-by-second and tagging these spectra with GPS position. The SCoTSS imager of course has the additional advantage of being able to produce an image of the radioactive objects in its field of view using events that satisfy a coincidence trigger between the scatter and absorber layers. The Advanced Radiation Detector for UAV Operations (ARDUO) on the other hand, is a non-imaging directional detector intended for use aboard a small unmanned aerial vehicle (UAV). The ARDUO detector features exactly the same volume of CsI(Tl) as is used in the absorber layer of a single SCoTSS module, giving it similar detection and alarming sensitivity, and map-making capability. However, in the ARDUO detector, the crystals are arranged closely together to optimize direction determination from self-shielding effects. Flown in a grid pattern with a UAV over an area of extended contamination, the ARDUO detector is also capable of making a map or image of that area. With its close-packed crystal arrangement, the ARDUO detector makes a poor Compton imager but does have some ability to produce a peripheral image in a fly-by. In this presentation we investigate the relative merits of Compton imaging versus mobile directional detection.

physics.ins-det↗

arXiv2017

Using Intermittent Synchronization to Compensate for Rhythmic Body Motion During Autonomous Surgical Cutting and Debridement

Anatomical structures are rarely static during a surgical procedure due to breathing, heartbeats, and peristaltic movements. Inspired by observing an expert surgeon, we propose an intermittent synchronization with the extrema of the rhythmic motion (i.e., the lowest velocity windows). We performed 2 experiments: (1) pattern cutting, and (2) debridement. In (1), we found that the intermittent synchronization approach, while 1.8x slower than tracking motion, was significantly more robust to noise and control latency, and it reduced the max cutting error by 2.6x In (2), a baseline approach with no synchronization achieves 62% success rate for each removal, while intermittent synchronization achieves 80%.

cs.RO↗