Related papers: Benchmarking Robot Manipulation with the Rubik's C…
Recent advances in visuomotor policy learning have enabled robots to perform control directly from visual inputs. Yet, extending such end-to-end learning from single-arm to bimanual manipulation remains challenging due to the need for both…
Robotic manipulators are critical in many applications but are known to degrade over time. This degradation is influenced by the nature of the tasks performed by the robot. Tasks with higher severity, such as handling heavy payloads, can…
Aligning humans' assessment of what a robot can do with its true capability is crucial for establishing a common ground between human and robot partners when they collaborate on a joint task. In this work, we propose an approach to…
Human pose estimation involves detecting and tracking the positions of various body parts using input data from sources such as images, videos, or motion and inertial sensors. This paper presents a novel approach to human pose estimation…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
Fine-grained robot manipulation, such as lifting and rotating a bottle to display the label on the cap, requires robust reasoning about object parts and their relationships with intended tasks. Despite recent advances in training…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
ROBEL is an open-source platform of cost-effective robots designed for reinforcement learning in the real world. ROBEL introduces two robots, each aimed to accelerate reinforcement learning research in different task domains: D'Claw is a…
The pursuit of general-purpose robotics has yielded impressive foundation models, yet simulation-based benchmarking remains a bottleneck due to rapid performance saturation and a lack of true generalization testing. Existing benchmarks…
The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the…
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…
Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human intervention for system setup. Furthermore, existing autonomous…
Recent advances in probabilistic modelling have led to a large number of simulation-based inference algorithms which do not require numerical evaluation of likelihoods. However, a public benchmark with appropriate performance metrics for…
Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the…
Collaborative transport of objects via pushing by multiple robots has many applications, ranging from construction and warehouse environments to post disaster debris clean-up. Achieving collaborative transport over surfaces with different…
This report describes our approach for Phase 3 of the Real Robot Challenge. To solve cuboid manipulation tasks of varying difficulty, we decompose each task into the following primitives: moving the fingers to the cuboid to grasp it,…
Robotic manipulation in everyday scenarios, especially in unstructured environments, requires skills in pose-aware object manipulation (POM), which adapts robots' grasping and handling according to an object's 6D pose. Recognizing an…
The robot manipulation ecosystem currently faces issues with integrating open-source components and reproducing results. This limits the ability of the community to benchmark and compare the performance of different solutions to one another…
A whole-body torque control framework adapted for balancing and walking tasks is presented in this paper. In the proposed approach, centroidal momentum terms are excluded in favor of a hierarchy of high-priority position and orientation…
Blackberry harvesting is a labor-intensive and costly process, consuming up to 50\% of the total annual crop hours. This paper presents a solution for robotic harvesting through the design, manufacturing, integration, and control of a…