Related papers: Mobile Manipulation Leveraging Multiple Views

We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…

With humankind facing new and increasingly large-scale challenges in the medical and domestic spheres, automation of the service sector carries a tremendous potential for improved efficiency, quality, and safety of operations. Mobile…

This paper introduces mathematical models of \sensors\ for mobile robots based on visibility. Serving a purpose similar to the pinhole camera model for computer vision, the introduced models are expected to provide a useful, idealized…

The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…

We present a novel concept for teach-and-repeat visual navigation. The proposed concept is based on a mathematical model, which indicates that in teach-and-repeat navigation scenarios, mobile robots do not need to perform explicit…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…

Model free reinforcement learning suffers from the high sampling complexity inherent to robotic manipulation or locomotion tasks. Most successful approaches typically use random sampling strategies which leads to slow policy convergence. In…

Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…

Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…

In this work, we present a method for tracking and learning the dynamics of all objects in a large scale robot environment. A mobile robot patrols the environment and visits the different locations one by one. Movable objects are discovered…

Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…

Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…

In real-world scenarios, many robotic manipulation tasks are hindered by occlusions and limited fields of view, posing significant challenges for passive observation-based models that rely on fixed or wrist-mounted cameras. In this paper,…

In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rare to occur. Rather, multiple candidate grasps must be…

Mobile manipulation stands as a core challenge in robotics, enabling robots to assist humans across varied tasks and dynamic daily environments. Conventional mobile manipulation approaches often struggle to generalize across different tasks…

Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…

The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…

Machine perception is an important prerequisite for safe interaction and locomotion in dynamic environments. This requires not only the timely perception of surrounding geometries and distances but also the ability to react to changing…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

We propose a new approach to learn to segment multiple image objects without manual supervision. The method can extract objects form still images, but uses videos for supervision. While prior works have considered motion for segmentation, a…