Related papers: Describing Physics For Physical Reasoning: Force-b…
Common-sense physical reasoning in the real world requires learning about the interactions of objects and their dynamics. The notion of an abstract object, however, encompasses a wide variety of physical objects that differ greatly in terms…
Differentiable physics provides a new approach for modeling and understanding the physical systems by pairing the new technology of differentiable programming with classical numerical methods for physical simulation. We survey the rapidly…
Humans intuitively recognize objects' physical properties and predict their motion, even when the objects are engaged in complicated interactions. The abilities to perform physical reasoning and to adapt to new environments, while intrinsic…
This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
The combined approach of the Qualitative Reasoning and Probabilistic Functions for the knowledge representation is proposed. The method aims at represent uncertain, qualitative knowledge that is essential for the moving blocks task's…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
This survey examines the broad suite of methods and models for combining machine learning with physics knowledge for prediction and forecast, with a focus on partial differential equations. These methods have attracted significant interest…
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…
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…
In physical human-robot interaction, force feedback has been the most common sensing modality to convey the human intention to the robot. It is widely used in admittance control to allow the human to direct the robot. However, it cannot be…
Basic principles of mathematical modeling are reviewed in this book, with the focus on physics and its practical applications, and examples of selected mathematical methods are presented. Most of the models have been imported from physics…
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
Robotic grasping is a fundamental aspect of robot functionality, defining how robots interact with objects. Despite substantial progress, its generalizability to counter-intuitive or long-tailed scenarios, such as objects with uncommon…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…
While grasps must satisfy the grasping stability criteria, good grasps depend on the specific manipulation scenario: the object, its properties and functionalities, as well as the task and grasp constraints. In this paper, we consider such…
We present a new probing dataset named PROST: Physical Reasoning about Objects Through Space and Time. This dataset contains 18,736 multiple-choice questions made from 14 manually curated templates, covering 10 physical reasoning concepts.…
This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…
We consider the task of autonomously unloading boxes from trucks using an industrial manipulator robot. There are multiple challenges that arise: (1) real-time motion planning for a complex robotic system carrying two articulated…
Robots that can manipulate objects in unstructured environments and collaborate with humans can benefit immensely by understanding natural language. We propose a pipelined architecture of two stages to perform spatial reasoning on the text…