Related papers: Manipulation of Articulated Objects using Dual-arm…
Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…
This paper presents a manipulation planning algorithm for robots to reorient objects. It automatically finds a sequence of robot motion that manipulates and prepares an object for specific tasks. Examples of the preparatory manipulation…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…
We present ArtiGrasp, a novel method to synthesize bi-manual hand-object interactions that include grasping and articulation. This task is challenging due to the diversity of the global wrist motions and the precise finger control that are…
The world is filled with articulated objects that are difficult to determine how to use from vision alone, e.g., a door might open inwards or outwards. Humans handle these objects with strategic trial-and-error: first pushing a door then…
Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…
People often use physical intuition when manipulating articulated objects, irrespective of object semantics. Motivated by this observation, we identify an important embodied task where an agent must play with objects to recover their parts.…
Articulated object manipulation is a challenging task, requiring constrained motion and adaptive control to handle the unknown dynamics of the manipulated objects. While reinforcement learning (RL) has been widely employed to tackle various…
Answer Set Programming (ASP) is a popular declarative programming language for solving hard combinatorial problems. Although ASP has gained widespread acceptance in academic and industrial contexts, there are certain user groups who may…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…
Traditional AI reasoning techniques have been used successfully in many domains, including logistics, scheduling and game playing. This paper is part of a project aimed at investigating how such techniques can be extended to coordinate…
Articulated objects are commonly found in daily life. It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world robotic applications. However, existing methods for articulated…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
We present a framework that, given a set of skills a robot can perform, abstracts sensor data into symbols that we use to automatically encode the robot's capabilities in Linear Temporal Logic. We specify reactive high-level tasks based on…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language…
We propose Answer Set Programming (ASP) as an approach for modeling and solving problems from the area of Declarative Process Mining (DPM). We consider here three classical problems, namely, Log Generation, Conformance Checking, and Query…
Answer set programming (ASP) is a popular declarative programming paradigm with a wide range of applications in artificial intelligence. Oftentimes, when modeling an AI problem with ASP, and in particular when we are interested beyond…
In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration, focusing on frictional patch contacts between the robot's…