Related papers: Exploratory Grasping: Asymptotically Optimal Algor…

While deep learning has enabled significant progress in designing general purpose robot grasping systems, there remain objects which still pose challenges for these systems. Recent work on Exploratory Grasping has formalized the problem of…

The ability of robots to grasp novel objects has industry applications in e-commerce order fulfillment and home service. Data-driven grasping policies have achieved success in learning general strategies for grasping arbitrary objects.…

Robust and human-like dexterous grasping of general objects is a critical capability for advancing intelligent robotic manipulation in real-world scenarios. However, existing reinforcement learning methods guided by grasp priors often…

This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…

Humans excel in grasping objects through diverse and robust policies, many of which are so probabilistically rare that exploration-based learning methods hardly observe and learn. Inspired by the human learning process, we propose a method…

Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…

Dexterous robotic hands are appealing for their agility and human-like morphology, yet their high degree of freedom makes learning to manipulate challenging. We introduce an approach for learning dexterous grasping. Our key idea is to embed…

Existing grasp prediction approaches are mostly based on offline learning, while, ignoring the exploratory grasp learning during online adaptation to new picking scenarios, i.e., objects that are unseen or out-of-domain (OOD), camera and…

Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…

Pure exploration in bandits formalises multiple real-world problems, such as tuning hyper-parameters or conducting user studies to test a set of items, where different safety, resource, and fairness constraints on the decision space…

We propose an approach to multi-modal grasp detection that jointly predicts the probabilities that several types of grasps succeed at a given grasp pose. Given a partial point cloud of a scene, the algorithm proposes a set of feasible grasp…

Goal-conditioned robotic grasping in cluttered environments remains a challenging problem due to occlusions caused by surrounding objects, which prevent direct access to the target object. A promising solution to mitigate this issue is…

In recent years, as robotics has advanced, human-robot collaboration has gained increasing importance. However, current robots struggle to fully and accurately interpret human intentions from voice commands alone. Traditional gripper and…

This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first identifies potential structures that can afford the action of…

Classical approaches to grasp planning are deterministic, requiring perfect knowledge of an object's pose and geometry. In response, data-driven approaches have emerged that plan grasps entirely from sensory data. While these data-driven…

Reinforcement learning is a promising method for robotic grasping as it can learn effective reaching and grasping policies in difficult scenarios. However, achieving human-like manipulation capabilities with sophisticated robotic hands is…

Dexterous robotic hands have the capability to interact with a wide variety of household objects to perform tasks like grasping. However, learning robust real world grasping policies for arbitrary objects has proven challenging due to the…

Robotic grasping in cluttered environments is often infeasible due to obstacles preventing possible grasps. Then, pre-grasping manipulation like shifting or pushing an object becomes necessary. We developed an algorithm that can learn, in…

The use of anthropomorphic robotic hands for assisting individuals in situations where human hands may be unavailable or unsuitable has gained significant importance. In this paper, we propose a novel task called human-assisting dexterous…

The goal of causal discovery is to learn a directed acyclic graph from data. One of the most well-known methods for this problem is Greedy Equivalence Search (GES). GES searches for the graph by incrementally and greedily adding or removing…