Related papers: Go Fetch: Mobile Manipulation in Unstructured Envi…
The positioning of users using their smartphones represents interesting service for various areas. Position of users can represent valuable information for various service providers. In industry 4.0 smart devices such as smartphone or…
Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…
This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
In order to develop robots that can effectively serve as versatile and capable home assistants, it is crucial for them to reliably perceive and interact with a wide variety of objects across diverse environments. To this end, we proposed…
HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile Manipulation (OVMM) is the problem of picking any object in any unseen…
For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…
Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp…
Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…
Robotic manipulation of fresh fruits and vegetables, including the grasping of multiple loose items, has a strong industrial need but it still is a challenging task for robotic manipulation. This paper outlines the distinctive manipulation…
Mobile crowdsourcing refers to systems where the completion of tasks necessarily requires physical movement of crowdworkers in an on-demand workforce. Evidence suggests that in such systems, tasks often get assigned to crowdworkers who…
Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…
In this paper, we present an experiment, designed to investigate and evaluate the scalability and the robustness aspects of mobile manipulation. The experiment involves performing variations of mobile pick and place actions and…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we…
We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. This uncertainty is due to noisy sensing, inaccurate models and hard-to-predict environment dynamics. We quantify the importance of…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…