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Task-oriented grasping (TOG) is crucial for robots to accomplish manipulation tasks, requiring the determination of TOG positions and directions. Existing methods either rely on costly manual TOG annotations or only extract coarse grasping…
Achieving human-level manipulation requires dexterous robotic hands capable of complex object interactions. Advancing such capabilities further demands standardized benchmarks for systematic evaluation. However, existing dexterous…
Object rearrangement is a fundamental sub-task in accomplishing a great many physical tasks. As such, effectively executing rearrangement is an important skill for intelligent robots to master. In this study, we conduct the first…
Robot manipulation and grasping mechanisms have received considerable attention in the recent past, leading to the development of wide range of industrial applications. This paper proposes the development of an autonomous robotic grasping…
Benchmarks for robot manipulation are crucial to measuring progress in the field, yet there are few benchmarks that demonstrate critical manipulation skills, possess standardized metrics, and can be attempted by a wide array of robot…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
Learning policies from previously recorded data is a promising direction for real-world robotics tasks, as online learning is often infeasible. Dexterous manipulation in particular remains an open problem in its general form. The…
We introduce the Smoothed Online Optimization for Target Tracking (SOOTT) problem, a new framework that integrates three key objectives in online decision-making under uncertainty: (1) tracking cost for following a dynamically moving…
Robotic manipulation tasks involving cutting deformable objects remain challenging due to complex topological behaviors, difficulties in perceiving dense object states, and the lack of efficient evaluation methods for cutting outcomes. In…
In this paper, we present Sim-Grasp, a robust 6-DOF two-finger grasping system that integrates advanced language models for enhanced object manipulation in cluttered environments. We introduce the Sim-Grasp-Dataset, which includes 1,550…
In complex manipulation tasks, e.g., manipulation by pivoting, the motion of the object being manipulated has to satisfy path constraints that can change during the motion. Therefore, a single grasp may not be sufficient for the entire…
A vast and growing number of IoT applications connect physical devices, such as scientific instruments, technical equipment, machines, and cameras, across heterogenous infrastructure from the edge to the cloud to provide responsive,…
As robots become more widely available outside industrial settings, the need for reliable object grasping and manipulation is increasing. In such environments, robots must be able to grasp and manipulate novel objects in various situations.…
To realize a robust robotic grasping system for unknown objects in an unstructured environment, large amounts of grasp data and 3D model data for the object are required, the sizes of which directly affect the rate of successful grasps. To…
Assembly processes involving humans and robots are challenging scenarios because the individual activities and access to shared workspace have to be coordinated. Fixed robot programs leave no room to diverge from a fixed protocol. Working…
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…
Enabling robots to grasp objects specified through natural language is essential for effective human-robot interaction, yet it remains a significant challenge. Existing approaches often struggle with open-form language expressions and…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…
This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary…