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In densely cluttered environments, physical interference, visual occlusions, and unstable contacts often cause direct dexterous grasping to fail, while aggressive singulation strategies may compromise safety. Enabling robots to adaptively…
In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…
Goal-conditioned robotic grasping in cluttered environments remains a challenging problem due to occlusions caused by surrounding objects, which prevent direct access to the target object. A promising solution to mitigate this issue is…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the…
3D scene models are useful in robotics for tasks such as path planning, object manipulation, and structural inspection. We consider the problem of creating a 3D model using depth images captured by a team of multiple robots. Each robot…
This paper aims to improve robots' versatility and adaptability by allowing them to use a large variety of end-effector tools and quickly adapt to new tools. We propose AdaGrasp, a method to learn a single grasping policy that generalizes…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
Grasping in dense clutter is a fundamental skill for autonomous robots. However, the crowdedness and occlusions in the cluttered scenario cause significant difficulties to generate valid grasp poses without collisions, which results in low…
The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. Using mobile robots for gas detection has several advantages and can reduce danger for humans.…
Robots operating in human-centric environments require the integration of visual grounding and grasping capabilities to effectively manipulate objects based on user instructions. This work focuses on the task of referring grasp synthesis,…
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…
The rise of embodied AI applications has enabled robots to perform complex tasks which require a sophisticated understanding of their environment. To enable successful robot operation in such settings, maps must be constructed so that they…
We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…
This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point for a robot to manipulate an object. Our approach leverages…
Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the…
Visual search of relevant targets in the environment is a crucial robot skill. We propose a preliminary framework for the execution monitor of a robot task, taking care of the robot attitude to visually searching the environment for targets…
We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…
To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…
Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These…