Related papers: Collaborative Robotic Manipulation: A Use Case of …
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…
Use of physics-based simulation as a planning model enables a planner to reason and generate plans that involve non-trivial interactions with the world. For example, grasping a milk container out of a cluttered refrigerator may involve…
We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…
Collaborative human activities are grounded in social and moral norms, which humans consciously and subconsciously use to guide and constrain their decision-making and behavior, thereby strengthening their interactions and preventing…
Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation…
We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…
Perceiving and interacting with 3D articulated objects, such as cabinets, doors, and faucets, pose particular challenges for future home-assistant robots performing daily tasks in human environments. Besides parsing the articulated parts…
In order to enable robust operation in unstructured environments, robots should be able to generalize manipulation actions to novel object instances. For example, to pour and serve a drink, a robot should be able to recognize novel…
Robotic deformable-object manipulation is a challenge in the robotic industry because deformable objects have complicated and various object states. Predicting those object states and updating manipulation planning is time-consuming and…
Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must…
Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable new paradigms for structure formation. Aleatory…
Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…
Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…
In physical human-robot interaction, force feedback has been the most common sensing modality to convey the human intention to the robot. It is widely used in admittance control to allow the human to direct the robot. However, it cannot be…
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while…
Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…