Related papers: Manipulation Planning Among Movable Obstacles Usin…

Human interaction introduces two main constraints: Safety and Comfort. Therefore service robot manipulator can't be controlled like industrial robotic manipulator where personnel is isolated from the robot's work envelope. In this paper, we…

Robots need to manipulate objects in constrained environments like shelves and cabinets when assisting humans in everyday settings like homes and offices. These constraints make manipulation difficult by reducing grasp accessibility, so…

Assistance in collaborative manipulation is often initiated by user instructions, making high-level reasoning request-driven. In fluent human teamwork, however, partners often infer the next helpful step from the observed outcome of an…

Many order fulfillment applications in logistics, such as packing, involve picking objects from unstructured piles before tightly arranging them in bins or shipping containers. Desirable robotic solutions in this space need to be low-cost,…

In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…

Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…

To determine if a skill can be executed in any given environment, a robot needs to learn the preconditions for the skill. As robots begin to operate in dynamic and unstructured environments, precondition models will need to generalize to…

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…

Contact-rich manipulation often requires strategic interactions with objects, such as pushing to accomplish specific tasks. We propose a novel scenario where a robot inserts a book into a crowded shelf by pushing aside neighboring books to…

Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begun. This is particularly relevant for effort-sensitive,…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…

We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…

In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator…

Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force closure. Current approaches to non-prehensile manipulation…

This work addresses the challenge of a robot using real-time feedback from contact sensors to reliably manipulate a movable object on a cluttered tabletop. We formulate contact manipulation as a partially observable Markov decision process…

Autonomous robotic arm manipulators have the potential to make planetary exploration and in-situ resource utilization missions more time efficient and productive, as the manipulator can handle the objects itself and perform goal-specific…

To solve multi-step manipulation tasks in the real world, an autonomous robot must take actions to observe its environment and react to unexpected observations. This may require opening a drawer to observe its contents or moving an object…

Musculoskeletal robots that are based on pneumatic actuation have a variety of properties, such as compliance and back-drivability, that render them particularly appealing for human-robot collaboration. However, programming interactive and…