Geeta Chandra Raju

[Geeta Chandra Raju @geetachandra21]

MaaaddMaxxxxxx Antraxxxxxxx stuff

[MuJoCo @mujoco]

MuJoCo 4.0 is out!

• Fast or thin objects no longer pass through each other
• Soft bodies can now deform permanently and rods can twist
• MuJoCo Studio, the successor to simulate, with physically based rendering via Filament

Try it live: https://t.co/NVDhHWOQqJ

[Geeta Chandra Raju @geetachandra21]

@TrevorKnottOG @_krishna_murthy That's interesting! Curious what approach you used..

[Geeta Chandra Raju @geetachandra21]

@_krishna_murthy @HaiminHu @HopkinsDSAI @HopkinsEngineer @JHUCompSci code for spidernoid
https://t.co/GE5eRLqwvZ

[Geeta Chandra Raju @geetachandra21]

Our OpenTac doesn't take forces lightly, Or heavily, It takes both at the same time!

https://t.co/RgDdzbkwiK

[Arik Slepyan @arikslep]

One of the biggest problems people talk about with tactile sensors is their dynamic range. Most sensors either saturate quickly or aren't sensitive enough to detect light touches.

Why can't we have both?

Introducing HDR tactile sensing with OpenTac.

[Geeta Chandra Raju @geetachandra21]

Built a Livox Mid-360 LiDAR sensor for mjlab, set up for the Unitree G1, real scan pattern at 200k pts/s, datasheet noise, motion distortion, built-in IMU. Runs batched on GPU for RL.

https://t.co/nvoN99QW9i

[Krishna Murthy @_krishna_murthy]

For Halloween, @geetachandra21 got our Unitree G1 to crawl like a spider!

Give Geeta (co-advised w/ @HaiminHu) a follow if you're interested in more humanoid demos.

We're doubling down on whole-body locomanipulation research at @HopkinsDSAI @HopkinsEngineer @JHUCompSci -- reach out if interested in working with us!

(credit to Addison Johnson, who helped design the mounts for the hands, and filmed this; and to Geeta who took a full-stack approach to ensuring that no humans or humanoids were harmed during the production of this video! and to @jloganolson for last year's humanoid crawling deo)

https://t.co/eu4YnVTZWr

[Krishna Murthy @_krishna_murthy]

Sharing our new work OpenTac; a tactile sensor + ecosystem that let’s you automatically design, customize, and deploy tactile skins on any robot surface!

Work led by @arikslep and in collaboration with a large group of robotics faculty new-and-not-new @JohnsHopkins. This also is my first preprint since I started my faculty position @JHUCompSci @HopkinsDSAI and setup SciPhy lab this Fall.

OpenTac is a piezoresistive robot skin that can accurately estimate normal and shear forces, can be adapted to sensorize any developable robot surface, and based on how sparse your contact is, adaptively readout at kilohertz-rate.

All of our software, hardware, and firmware is made available under open, permissive licenses for research or commercial use. 🧵

[Homanga Bharadhwaj @ CoRL @mangahomanga]

Your robot's shape shouldn't limit its sense of touch.

Meet OpenTac: an open ecosystem for custom tactile skins that sense normal + shear forces.

Very excited about this collaborative project! Can’t wait to see what the community builds with it. 🧵👇

https://t.co/c1Fwr5IJAk

[Arik Slepyan @arikslep]

We present OpenTac, an open, full-stack ecosystem for 3D tactile sensing on any robot surface.

Anyone can design and fabricate high-density tactile skins for any part of their robot, then read them out, simulate them, and share data across different sensors.

[Krishna Murthy @_krishna_murthy]

The sensors are robust! I asked @geetachandra21 to stress-test the sensor, and the tests he came up with were quite creative (and amusing). We struck a sensor with a hammer, stomped all over it, ran an office chair over it, and reconnected. The sensor still works as well as it did before — captures light as well as heavy contacts.

[Geeta Chandra Raju @geetachandra21]

@DashoraNitish @nolan_fey Goated

[Geeta Chandra Raju @geetachandra21]

@zhengyiluo Itha is oso ocol

[Geeta Chandra Raju @geetachandra21]

@Pranavdoma0323 NYC is love.

[Geeta Chandra Raju @geetachandra21]

@Pranavdoma0323 Maybe we should use our time in learning physics and math than learning to code.

[Geeta Chandra Raju @geetachandra21]

@Pranavdoma0323

[Geeta Chandra Raju @geetachandra21]

@Pranavdoma0323 Naa Family Safe!!!

[Geeta Chandra Raju @geetachandra21]

@Pranavdoma0323 god mode

[Geeta Chandra Raju @geetachandra21]

@Pranavdoma0323 Its 10am, do pickme up from jfk, as we dont have the tech yet, im relying on you. After i come we can work on building this.

[Geeta Chandra Raju @geetachandra21]

@letsrebelagain @rao2z Brother, he is world renowned Computer Scientist and Professor
https://t.co/rAuoYNsaSo
@rao2z

[Geeta Chandra Raju @geetachandra21]

@Pranavreddy0323 @xiaolonw @ShanningZhuang bane extralu swallowing ra