Related papers: A Mid-level Planning System for Object Reorientati…

Precisely grasping an object is a challenging task due to pose uncertainties. Conventional methods have used cameras and fixtures to reduce object uncertainty. They are effective but require intensive preparation, such as designing jigs…

Learning policies in simulation and transferring them to the real world has become a promising approach in dexterous manipulation. However, bridging the sim-to-real gap for each new task requires substantial human effort, such as careful…

We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…

This paper proposes a combined task and motion planner for a dual-arm robot to use a suction cup tool. The planner consists of three sub-planners -- A suction pose sub-planner and two regrasp and motion sub-planners. The suction pose…

We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…

We present a planner for large-scale (un)labeled object sorting tasks, which uses two types of manipulation actions: overhead grasping and planar pushing. The grasping action offers completeness guarantee under mild assumptions, and planar…

We present a new approach to transfer grasp configurations from prior example objects to novel objects. We assume the novel and example objects have the same topology and similar shapes. We perform 3D segmentation on these objects using…

Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…

This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…

The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…

Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…

This paper introduces a framework to plan grasps with multi-fingered hands. The framework includes a multi-dimensional iterative surface fitting (MDISF) for grasp planning and a grasp trajectory optimization (GTO) for grasp imagination. The…

The human hand has an inherent ability to manipulate and re-orientate objects without external assistance. As a consequence, we are able to operate tools and perform an array of actions using just one hand, without having to continuously…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

We study the problem of placing a grasped object on an empty flat surface in an upright orientation, such as placing a cup on its bottom rather than on its side. We aim to find the required object rotation such that when the gripper is…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

This paper addresses the planar finger kinematics for seeking optimized manipulation strategies. The first step is to model based on geometric features of linear and rotation motion so that the robot can select the fingers configurations.…

This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…

Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…

We present a novel receding-horizon multi-contact motion planner for legged robots in challenging scenarios, able to plan motions such as chimney climbing, navigating very narrow passages or crossing large gaps. Our approach adds new…