Related papers: Object Rearrangement with Nested Nonprehensile Man…
We investigate the utility of employing multiple buffers in solving a class of rearrangement problems with pick-n-swap manipulation primitives. In this problem, objects stored randomly in a lattice are to be sorted using a robot arm with…
This paper studies the challenge of developing robots capable of understanding under-specified instructions for creating functional object arrangements, such as "set up a dining table for two"; previous arrangement approaches have focused…
3D object reconfiguration encompasses common robot manipulation tasks in which a set of objects must be moved through a series of physically feasible state changes into a desired final configuration. Object reconfiguration is challenging to…
Humans perform everyday tasks using a combination of locomotion and manipulation skills. Building a system that can handle both skills is essential to creating virtual humans. We present a physically-simulated human capable of solving box…
There has been a significant recent progress in the field of Embodied AI with researchers developing models and algorithms enabling embodied agents to navigate and interact within completely unseen environments. In this paper, we propose a…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…
This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…
The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieved by picking and placing the objects of interest directly,…
In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rare to occur. Rather, multiple candidate grasps must be…
Learning dexterous manipulation skills is a long-standing challenge in computer graphics and robotics, especially when the task involves complex and delicate interactions between the hands, tools and objects. In this paper, we focus on…
In this work, we delve into the intricate synergy among non-prehensile actions like pushing, and prehensile actions such as grasping and throwing, within the domain of robotic manipulation. We introduce an innovative approach to learning…
Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…
Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…
Segmentation and tracking of unseen object instances in discrete frames pose a significant challenge in dynamic industrial robotic contexts, such as distribution warehouses. Here, robots must handle object rearrangement, including shifting,…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
In this work, we introduce MO-SeGMan, a Multi-Objective Sequential and Guided Manipulation planner for highly constrained rearrangement problems. MO-SeGMan generates object placement sequences that minimize both replanning per object and…
Physically rearranging objects is an important capability for embodied agents. Visual room rearrangement evaluates an agent's ability to rearrange objects in a room to a desired goal based solely on visual input. We propose a simple yet…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…