Related papers: Manipulation of Articulated Objects using Dual-arm…
Recent advances in robotics have been largely driven by imitation learning, which depends critically on large-scale, high-quality demonstration data. However, collecting such data remains a significant challenge-particularly for mobile…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
We propose a new formal language for the expressive representation of probabilistic knowledge based on Answer Set Programming (ASP). It allows for the annotation of first-order formulas as well as ASP rules and facts with probabilities and…
Humans intuitively understand that inanimate objects do not move by themselves, but that state changes are typically caused by human manipulation (e.g., the opening of a book). This is not yet the case for machines. In part this is because…
Abstraction is a well-known approach to simplify a complex problem by over-approximating it with a deliberate loss of information. It was not considered so far in Answer Set Programming (ASP), a convenient tool for problem solving. We…
This paper describes a method for steering deformable linear objects using two robot hands in environments populated by sparsely spaced obstacles. The approach involves manipulating an elastic inextensible rod by varying the gripping…
We introduce an implementation of an extension of Answer Set Programming (ASP) with language constructs from dynamic (and temporal) logic that provides an expressive computational framework for modeling dynamic applications. Starting from…
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…
We address the challenge of creating 3D assets for household articulated objects from a single image. Prior work on articulated object creation either requires multi-view multi-state input, or only allows coarse control over the generation…
Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…
This work focuses on the problem of in-hand manipulation and regrasping of objects with parallel grippers. We propose Dexterous Manipulation Graph (DMG) as a representation on which we define planning for in-hand manipulation and…
Our broader goal is to automatically translate English sentences into formulas in appropriate knowledge representation languages as a step towards understanding and thus answering questions with respect to English text. Our focus in this…
Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…
Answer set programming (ASP) is a form of declarative programming that allows to succinctly formulate and efficiently solve complex problems. An intuitive extension of this formalism is communicating ASP, in which multiple ASP programs…
Recent advances in unsupervised learning for object detection, segmentation, and tracking hold significant promise for applications in robotics. A common approach is to frame these tasks as inference in probabilistic latent-variable models.…
The ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an autonomous mobile manipulator, is proposed. To push forward the…
Comprehension of spoken natural language is an essential component for robots to communicate with human effectively. However, handling unconstrained spoken instructions is challenging due to (1) complex structures including a wide variety…
Within the area of computational models of argumentation, the instantiation-based approach is gaining more and more attention, not at least because meaningful input for Dung's abstract frameworks is provided in that way. In a nutshell, the…
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…
Programming a robot to deal with open-ended tasks remains a challenge, in particular if the robot has to manipulate objects. Launching, grasping, pushing or any other object interaction can be simulated but the corresponding models are not…