Related papers: Go Fetch: Mobile Manipulation in Unstructured Envi…

Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…

We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a person in virtual reality. This is…

Recent advancements in robotics have enabled robots to navigate complex scenes or manipulate diverse objects independently. However, robots are still impotent in many household tasks requiring coordinated behaviors such as opening doors.…

In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…

Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipulators are deployed…

Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…

We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…

Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate objects once contact is made, and how to navigate safely and…

Enabling robots to efficiently search for and identify objects in complex, unstructured environments is critical for diverse applications ranging from household assistance to industrial automation. However, traditional scene representations…

Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…

While there has been remarkable progress recently in the fields of manipulation and locomotion, mobile manipulation remains a long-standing challenge. Compared to locomotion or static manipulation, a mobile system must make a diverse range…

Learning-based methods have achieved strong performance for quadrupedal locomotion. However, several challenges prevent quadrupeds from learning helpful indoor skills that require interaction with environments and humans: lack of…

Mobile manipulator systems are comprised of a mobile platform with one or more manipulators and are of great interest in a number of applications such as indoor warehouses, mining, construction, forestry etc. We present an approach for…

We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system in the wild and benchmark its performance, we choose a…

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…

Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…

Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…

This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…

Pick-and-place is an important manipulation task in domestic or manufacturing applications. There exist many works focusing on grasp detection with high picking success rate but lacking consideration of downstream manipulation tasks (e.g.,…