Related papers: A Sketch-Based System for Human-Guided Constrained…
We present a strategy for designing and building very general robot manipulation systems involving the integration of a general-purpose task-and-motion planner with engineered and learned perception modules that estimate properties and…
Understanding geometric concepts, such as distance and shape, is essential for understanding the real world and also for many vision tasks. To incorporate such information into a visual representation of a scene, we propose learning to…
Affordances are key attributes of what must be perceived by an autonomous robotic agent in order to effectively interact with novel objects. Historically, the concept derives from the literature in psychology and cognitive science, where…
For architectural design, representation across multiple Levels of Details (LoD) is essential for achieving a smooth transition from conceptual massing to detailed modeling. However, traditional LoD modeling processes rely on manual…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
Topology optimization (TO) is employed in engineering to optimize structural performance while maximizing material efficiency. However, traditional TO methods incur significant computational and time costs. Although research has leveraged…
Developing simple and expressive access controls -- interfaces to specify policies that define who should have access to resources and under what circumstances -- is a longstanding challenge in usable security. We present Sketch-based…
The use of machine learning to investigate grasp affordances has received extensive attention over the past several decades. The existing literature provides a robust basis to build upon, though a number of aspects may be improved. Results…
Proliferation of touch-based devices has made sketch-based image retrieval practical. While many methods exist for sketch-based object detection/image retrieval on small datasets, relatively less work has been done on large (web)-scale…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
Understanding human activities and object affordances are two very important skills, especially for personal robots which operate in human environments. In this work, we consider the problem of extracting a descriptive labeling of the…
Optimizing warehouse layouts is crucial due to its significant impact on efficiency and productivity. We present an AI-driven framework for automated warehouse layout generation. This framework employs constrained beam search to derive…
Accurate affordance detection and segmentation with pixel precision is an important piece in many complex systems based on interactions, such as robots and assitive devices. We present a new approach to affordance perception which enables…
In order to enable robust operation in unstructured environments, robots should be able to generalize manipulation actions to novel object instances. For example, to pour and serve a drink, a robot should be able to recognize novel…
Object manipulation in images aims to not only edit the object's presentation but also gift objects with motion. Previous methods encountered challenges in concurrently handling static editing and dynamic generation, while also struggling…
A common way to manipulate heavy objects is to maintain at least one point of the object in contact with the environment during the manipulation. When the object has a cylindrical shape or, in general, a curved edge, not only sliding and…
Representation in the family of 3D Gaussian Splats (3DGS) are growing into a viable alternative to traditional graphics for an expanding number of application, including recent techniques that facilitate physics simulation and animation.…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…