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We present a learning framework for abstracting complex shapes by learning to assemble objects using 3D volumetric primitives. In addition to generating simple and geometrically interpretable explanations of 3D objects, our framework also…

Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…

We present Assembler, a scalable and generalizable framework for 3D part assembly that reconstructs complete objects from input part meshes and a reference image. Unlike prior approaches that mostly rely on deterministic part pose…

We present a mathematical and algorithmic scheme for learning the principal geometric elements in an image or 3D object. We build on recent work that convexifies the basic problem of finding a combination of a small number shapes that…

The ability to use random objects as tools in a generalizable manner is a missing piece in robots' intelligence today to boost their versatility and problem-solving capabilities. State-of-the-art robotic tool usage methods focused on…

Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…

We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple "pick-and-place" solution. Our method is a…

Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…

Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Nowadays, we have witnessed the early progress on learning the association between voice and face automatically, which brings a new wave of studies to the computer vision community. However, most of the prior arts along this line (a) merely…

Robotic assembly remains a significant challenge due to complexities in visual perception, functional grasping, contact-rich manipulation, and performing high-precision tasks. Simulation-based learning and sim-to-real transfer have led to…

The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…

Object Transfiguration replaces an object in an image with another object from a second image. For example it can perform tasks like "putting exactly those eyeglasses from image A on the nose of the person in image B". Usage of exemplar…

Imitation learning has gained immense popularity because of its high sample-efficiency. However, in real-world scenarios, where the trajectory distribution of most of the tasks dynamically shifts, model fitting on continuously aggregated…

3D reassembly is a challenging spatial intelligence task with broad applications across scientific domains. While large-scale synthetic datasets have fueled promising learning-based approaches, their generalizability to different domains is…

Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…

Assembling objects from parts requires understanding multimodal instructions, linking them to 3D components, and predicting physically plausible 6-DoF motions for each assembly step. Existing datasets focus on simplified scenarios,…

The task of shape abstraction with semantic part consistency is challenging due to the complex geometries of natural objects. Recent methods learn to represent an object shape using a set of simple primitives to fit the target.…

General-purpose object placement is a fundamental capability of an intelligent generalist robot: being capable of rearranging objects following precise human instructions even in novel environments. This work is dedicated to achieving…