Related papers: Randomized Physics-based Motion Planning for Grasp…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
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…
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…
We consider the problem of safe multi-agent motion planning for drones in uncertain, cluttered workspaces. For this problem, we present a tractable motion planner that builds upon the strengths of reinforcement learning and…
In unknown cluttered environments with densely stacked objects, the free-motion space is extremely barren, posing significant challenges to motion planners. Collision-free planning methods often suffer from catastrophic failures due to…
Visual navigation typically assumes the existence of at least one obstacle-free path between start and goal, which must be discovered/planned by the robot. However, in real-world scenarios, such as home environments and warehouses, clutter…
Grasping objects in cluttered environments remains a fundamental yet challenging problem in robotic manipulation. While prior works have explored learning-based synergies between pushing and grasping for two-fingered grippers, few have…
From construction materials, such as sand or asphalt, to kitchen ingredients, like rice, sugar, or salt; the world is full of granular materials. Despite impressive progress in robotic manipulation, manipulating and interacting with…
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively…
Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
In robot manipulation, planning the motion of a robot manipulator to grasp an object is a fundamental problem. A manipulation planner needs to generate a trajectory of the manipulator arm to avoid obstacles in the environment and plan an…
In this work, we present a manipulation planning algorithm for a robot to keep an object stable under changing external forces. We particularly focus on the case where a human may be applying forceful operations, e.g. cutting or drilling,…
We present a damage-aware planning approach which determines the best sequence to manipulate a number of objects in a scene. This works on task-planning level, abstracts from motion planning and anticipates the dynamics of the scene using a…
To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot…
A simple gripper can solve more complex manipulation tasks if it can utilize the external environment such as pushing the object against the table or a vertical wall, known as "Extrinsic Dexterity." Previous work in extrinsic dexterity…
For robots to operate autonomously in densely cluttered environments, they must reason about and potentially physically interact with obstacles to clear a path. Safely clearing a path on challenging terrain, such as a cluttered staircase,…
In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex…