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Humans perform everyday tasks using a combination of locomotion and manipulation skills. Building a system that can handle both skills is essential to creating virtual humans. We present a physically-simulated human capable of solving box…

Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…

We present a planner for large-scale (un)labeled object sorting tasks, which uses two types of manipulation actions: overhead grasping and planar pushing. The grasping action offers completeness guarantee under mild assumptions, and planar…

Object packing by autonomous robots is an im-portant challenge in warehouses and logistics industry. Most conventional data-driven packing planning approaches focus on regular cuboid packing, which are usually heuristic and limit the…

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…

Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…

We present the Latent Adaptive Planner (LAP), a trajectory-level latent-variable policy for dynamic nonprehensile manipulation (e.g., box catching) that formulates planning as inference in a low-dimensional latent space and is learned…

Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…

We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…

Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…

This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate…

This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…

This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…

As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement guidance whilst coping with changes in the environment is…

In logistics warehouse, since many objects are randomly stacked on shelves, it becomes difficult for a robot to safely extract one of the objects without other objects falling from the shelf. In previous works, a robot needed to extract the…

Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…

Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…

Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…

Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…

We present a strategy for designing and building very general robot manipulation systems involving the integration of a general-purpose task-and-motion planner with engineered and learned perception modules that estimate properties and…