Related papers: kPAM-SC: Generalizable Manipulation Planning using…

Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…

Embodied action planning is a core challenge in robotics, requiring models to generate precise actions from visual observations and language instructions. While video generation world models are promising, their reliance on pixel-level…

Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the task of creating novel target assemblies with unseen part shapes. As a fundamental step to…

Real-world manipulation problems in heavy clutter require robots to reason about potential contacts with objects in the environment. We focus on pick-and-place style tasks to retrieve a target object from a shelf where some `movable'…

This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…

The definition of symbolic descriptions that consistently represent relevant geometrical aspects in manipulation tasks is a challenging problem that has received little attention in the robotic community. This definition is usually done…

In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by…

This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…

Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…

Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…

Dexterous manipulation of arbitrary objects, a fundamental daily task for humans, has been a grand challenge for autonomous robotic systems. Although data-driven approaches using reinforcement learning can develop specialist policies that…

We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…

Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…

Robotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which is necessary for…

Deformable object manipulation is a long-standing challenge in robotics. While existing approaches often focus narrowly on a specific type of object, we seek a general-purpose algorithm, capable of manipulating many different types of…

One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…

Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…

Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…

Prospection is an important part of how humans come up with new task plans, but has not been explored in depth in robotics. Predicting multiple task-level is a challenging problem that involves capturing both task semantics and continuous…

Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…