Related papers: Benchmarking Robot Manipulation with the Rubik's C…
This paper introduces Amazon Robotic Manipulation Benchmark (ARMBench), a large-scale, object-centric benchmark dataset for robotic manipulation in the context of a warehouse. Automation of operations in modern warehouses requires a robotic…
In robot-assisted minimally invasive surgery (RAMIS), optimal placement of the surgical robot base is crucial for successful surgery. Improper placement can hinder performance because of manipulator limitations and inaccessible workspaces.…
Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…
The paper focuses on the robust identification of geometrical and elastostatic parameters of robotic manipulator. The main attention is paid to the efficiency improvement of the identification algorithm. To increase the identification…
B* is a novel optimization framework that addresses a critical challenge in fixed-base manipulator robotics: optimal base placement. Current methods rely on pre-computed kinematics databases generated through sampling to search for…
Standardized evaluation measures have aided in the progress of machine learning approaches in disciplines such as computer vision and machine translation. In this paper, we make the case that robotic learning would also benefit from…
Learning to solve a Rubik's Cube requires the learners to repeatedly practice a skill component, e.g., identifying a misplaced square and putting it back. However, for 3D physical tasks such as this, generating sufficient repeated practice…
Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…
Many manipulation tasks require the robot to rearrange objects relative to one another. Such tasks can be described as a sequence of relative poses between parts of a set of rigid bodies. In this work, we propose MATCH POLICY, a simple but…
This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…
Physical feasibility in 3D bin packing is a key requirement in modern industrial logistics and robotic automation. With the growing adoption of industrial automation, online bin packing has gained increasing attention. However,…
Benchmarking is key for developing and comparing optimization algorithms. In this paper, a CUDA-based real parameter optimization benchmark (cuROB) is introduced. Test functions of diverse properties are included within cuROB and…
To enable general-purpose robots, we will require the robot to operate daily articulated objects as humans do. Current robot manipulation has heavily relied on using a parallel gripper, which restricts the robot to a limited set of objects.…
Architectures for quantum computing can only be scaled up when they are accompanied by suitable benchmarking techniques. The document provides a comprehensive overview of the state and recommendations for systematic benchmarking of quantum…
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…
We demonstrate that models trained only in simulation can be used to solve a manipulation problem of unprecedented complexity on a real robot. This is made possible by two key components: a novel algorithm, which we call automatic domain…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping…
We introduce RoboEval, a structured evaluation framework and benchmark for robotic manipulation that augments binary success with principled behavioral and outcome metrics. Existing evaluations often collapse performance into outcome…
Enabling socially acceptable behavior for situated agents is a major goal of recent robotics research. Robots should not only operate safely around humans, but also abide by complex social norms. A key challenge for developing…