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Dynamic grasping of moving objects in complex, continuous motion scenarios remains challenging. Reinforcement Learning (RL) has been applied in various robotic manipulation tasks, benefiting from its closed-loop property. However, existing…
Learning diverse dexterous manipulation behaviors with assorted objects remains an open grand challenge. While policy learning methods offer a powerful avenue to attack this problem, they require extensive per-task engineering and…
Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…
Understanding the dynamic processes of the glassy system continues to be challenging. Recent advances have shown the power of graph neural networks (GNNs) for determining the correlation between structure and dynamics in the glassy system.…
Due to the inherent uncertainty in their deformability during motion, previous methods in rope manipulation often require hundreds of real-world demonstrations to train a manipulation policy for each rope, even for simple tasks such as rope…
The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…
Graphs or networks are a very convenient way to represent data with lots of interaction. Recently, Machine Learning on Graph data has gained a lot of traction. In particular, vertex classification and missing edge detection have very…
Graph neural networks (GNNs) have significantly improved the representation power for graph-structured data. Despite of the recent success of GNNs, the graph convolution in most GNNs have two limitations. Since the graph convolution is…
Graph Neural Networks usually rely on the assumption that the graph topology is available to the network as well as optimal for the downstream task. Latent graph inference allows models to dynamically learn the intrinsic graph structure of…
We focus on the task of future frame prediction in video governed by underlying physical dynamics. We work with models which are object-centric, i.e., explicitly work with object representations, and propagate a loss in the latent space.…
Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…
Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…
The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
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…
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…
Understanding and manipulating deformable objects (e.g., ropes and fabrics) is an essential yet challenging task with broad applications. Difficulties come from complex states and dynamics, diverse configurations and high-dimensional action…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
In this paper we present a Deep Reinforcement Learning approach to solve dynamic cloth manipulation tasks. Differing from the case of rigid objects, we stress that the followed trajectory (including speed and acceleration) has a decisive…