Related papers: kPAM 2.0: Feedback Control for Category-Level Robo…

Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…

This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…

Visual foundation models provide strong perceptual features for robotics, but their dense representations lack explicit object-level structure, limiting robustness and contractility in manipulation tasks. We propose STORM (Slot-based…

Robotic perception in unstructured environments remains challenging despite the zero-shot capabilities of foundation models such as SAM. This work attributes performance degradation to non-uniform representation shifts across transformer…

For fully actuated rigid robots, kinematic inversion is a purely geometric problem, efficiently solved by closed-loop inverse kinematics (CLIK) schemes that compute joint configurations to position the robot body in space. For underactuated…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

The transition to agile manufacturing, Industry 4.0, and high-mix-low-volume tasks require robot programming solutions that are flexible. However, most deployed robot solutions are still statically programmed and use stiff position control,…

One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…

This paper aims to show that robots equipped with a vision-based tactile sensor can perform dynamic manipulation tasks without prior knowledge of all the physical attributes of the objects to be manipulated. For this purpose, a robotic…

Understanding object affordances is essential for enabling robots to perform purposeful and fine-grained interactions in diverse and unstructured environments. However, existing approaches either rely on retrieval, which is fragile due to…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

For years, researchers have been devoted to generalizable object perception and manipulation, where cross-category generalizability is highly desired yet underexplored. In this work, we propose to learn such cross-category skills via…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

Despite significant progress in robotics and embodied AI in recent years, deploying robots for long-horizon tasks remains a great challenge. Majority of prior arts adhere to an open-loop philosophy and lack real-time feedback, leading to…

The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular configuration. However, in many cases, the physical…

The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…

In human-made scenarios, robots need to be able to fully operate objects in their surroundings, i.e., objects are required to be functionally grasped rather than only picked. This imposes very strict constraints on the object pose such that…

In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the…