Related papers: Manipulation of Articulated Objects using Dual-arm…
Perceiving and manipulating 3D articulated objects (e.g., cabinets, doors) in human environments is an important yet challenging task for future home-assistant robots. The space of 3D articulated objects is exceptionally rich in their…
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…
In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…
Answer Set Programming (ASP) is a logic programming paradigm featuring a purely declarative language with comparatively high modeling capabilities. Indeed, ASP can model problems in NP in a compact and elegant way. However, modeling…
We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…
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…
Answer Set Programming (ASP) is an increasingly popular framework for declarative programming that admits the description of problems by means of rules and constraints that form a disjunctive logic program. In particular, many AI problems…
A deep understanding of kinematic structures and movable components is essential for enabling robots to manipulate objects and model their own articulated forms. Such understanding is captured through articulated objects, which are…
Bimanual robotic manipulation is an emerging and critical topic in the robotics community. Previous works primarily rely on integrated control models that take the perceptions and states of both arms as inputs to directly predict their…
Answer set programming (ASP) is a well-established logic programming language that offers an intuitive, declarative syntax for problem solving. In its traditional application, a fixed ASP program for a given problem is designed and the…
Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities…
Answer Set Programming (ASP) is a declarative programming language used for modeling and solving complex combinatorial problems. It has been successfully applied to a number of different realworld problems. However, learning its usage can…
This paper explores the use of Answer Set Programming (ASP) in solving Distributed Constraint Optimization Problems (DCOPs). The paper provides the following novel contributions: (1) It shows how one can formulate DCOPs as logic programs;…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
Answer Set Programming (ASP) is an important logic programming paradigm within the field of Knowledge Representation and Reasoning. As a concise, human-readable, declarative language, ASP is an excellent tool for developing trustworthy…
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…
Bagging tasks, commonly found in industrial scenarios, are challenging considering deformable bags' complicated and unpredictable nature. This paper presents an automated bagging system from the proposed adaptive Structure-of-Interest (SOI)…
Knowledge representation and reasoning capacities are vital to cognitive robotics because they provide higher level cognitive functions for reasoning about actions, environments, goals, perception, etc. Although Answer Set Programming (ASP)…
In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in…
Answer Set Programming (ASP) has demonstrated its potential as an effective tool for concisely representing and reasoning about real-world problems. In this paper, we present an application in which ASP has been successfully used in the…