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Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
Large, richly annotated datasets have accelerated progress in fields such as computer vision and natural language processing, but replicating these successes in robotics has been challenging. While prior data collection methodologies such…
The Internet of Things comes along with new challenges for experimenting, testing, and operating decentralized socio-technical systems at large-scale. In such systems, autonomous agents interact locally with their users, and remotely with…
Collaborative robots working on a common task are necessary for many applications. One of the challenges for achieving collaboration in a team of robots is mutual tracking and identification. We present a novel pipeline for online…
The Internet of Things (IoT) is continuously growing to connect billions of smart devices anywhere and anytime in an Internet-like structure, which enables a variety of applications, services and interactions between human and objects. In…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…
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…
This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…
Collaboration is one of the most important factors in multi-robot systems. Considering certain real-world applications and to further promote its development, we propose a new benchmark to evaluate multi-robot collaboration in Target…
Achieving human-level speed and performance on real world tasks is a north star for the robotics research community. This work takes a step towards that goal and presents the first learned robot agent that reaches amateur human-level…
Recent advances in robot learning have accelerated progress toward generalist robots that can perform everyday tasks in human environments. Yet it remains difficult to gauge how close we are to this vision. The field lacks a reproducible,…
The accelerating aging population has led to an increasing demand for domestic robotics to ease caregivers' burden. The integration of Internet of Things (IoT), robotics, and human-robot interaction (HRI) technologies is essential for…
We present Task Bench, a parameterized benchmark designed to explore the performance of parallel and distributed programming systems under a variety of application scenarios. Task Bench lowers the barrier to benchmarking multiple…
Dexterous manipulation enables robots to purposefully alter the physical world, transforming them from passive observers into active agents in unstructured environments. This capability is the cornerstone of physical artificial…
Reinforcement Learning is a promising tool for learning complex policies even in fast-moving and object-interactive domains where human teleoperation or hard-coded policies might fail. To effectively reflect this challenging category of…
The main goal of this paper is to define a collaborative innovation process as well as a supporting tool. It is motivated through the increasing competition on global markets and the resultant propagation of decentralized projects with a…
Autonomously controlling the position of Remotely Operated underwater Vehicles (ROVs) is of crucial importance for a wide range of underwater engineering applications, such as in the inspection and maintenance of underwater industrial…
Rapid developments in hardware, software, and communication technologies have allowed the emergence of Internet-connected sensory devices that provide observation and data measurement from the physical world. By 2020, it is estimated that…