Related papers: Leveraging Multimodal Haptic Sensory Data for Robu…

We aim to enable robot to learn object manipulation by imitation. Given external observations of demonstrations on object manipulations, we believe that two underlying problems to address in learning by imitation is 1) segment a given…

This paper addresses the problem of mobile robot manipulation using object detection. Our approach uses detection and control as complimentary functions that learn from real-world interactions. We develop an end-to-end manipulation method…

Multimodal tactile sensing could potentially enable robots to improve their performance at manipulation tasks by rapidly discriminating between task-relevant objects. Data-driven approaches to this tactile perception problem show promise,…

This work introduces our approach to the flat and textureless object grasping problem. In particular, we address the tableware and cutlery manipulation problem where a service robot has to clean up a table. Our solution integrates colour…

Humans usually perceive the world in a multimodal way that vision, touch, sound are utilised to understand surroundings from various dimensions. These senses are combined together to achieve a synergistic effect where the learning is more…

To ensure that a robot is able to accomplish an extensive range of tasks, it is necessary to achieve a flexible combination of multiple behaviors. This is because the design of task motions suited to each situation would become increasingly…

This paper proposes a novel method for randomized bin-picking based on learning. When a two-fingered gripper tries to pick an object from the pile, a finger often contacts a neighboring object. Even if a finger contacts a neighboring…

There is a large variety of objects and appliances in human environments, such as stoves, coffee dispensers, juice extractors, and so on. It is challenging for a roboticist to program a robot for each of these object types and for each of…

Food is essential for human survival, and people always try to taste different types of delicious recipes. Frequently, people choose food ingredients without even knowing their names or pick up some food ingredients that are not obvious to…

Current agriculture and farming industries are able to reap advancements in robotics and automation technology to harvest fruits and vegetables using robots with adaptive grasping forces based on the compliance or softness of the fruit or…

The transfer of a robot skill between different geometric environments is non-trivial since a wide variety of environments exists, sensor observations as well as robot motions are high-dimensional, and the environment might only be…

To facilitate human-robot interaction and gain human trust, a robot should recognize and adapt to changes in human behavior. This work documents different human behaviors observed while taking objects from an interactive robot in an…

For machines to interact with the physical world, they must understand the physical properties of objects and materials they encounter. We use fabrics as an example of a deformable material with a rich set of mechanical properties. A thin…

This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…

To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, such spatial awareness involves estimating the object's pose…

Human-centered environments are rich with a wide variety of spatial relations between everyday objects. For autonomous robots to operate effectively in such environments, they should be able to reason about these relations and generalize…

Robotic cutting of soft materials is critical for applications such as food processing, household automation, and surgical manipulation. As in other areas of robotics, simulators can facilitate controller verification, policy learning, and…

When transporting an object, we unconsciously adapt our movement to its properties, for instance by slowing down when the item is fragile. The most relevant features of an object are immediately revealed to a human observer by the way the…

Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…

From dishwashers to cabinets, humans interact with articulated objects every day, and for a robot to assist in common manipulation tasks, it must learn a representation of articulation. Recent deep learning learning methods can provide…