Related papers: Robotic Dough Shaping
Mobile manipulation is a critical capability for robots operating in diverse, real-world environments. However, manipulating deformable objects and materials remains a major challenge for existing robot learning algorithms. While various…
Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly…
Manipulating three-dimensional (3D) deformable objects presents significant challenges for robotic systems due to their infinite-dimensional state space and complex deformable dynamics. This paper proposes a novel model-free approach for…
Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…
The robotic manipulation of composite rigid-deformable objects (i.e. those with mixed non-homogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has…
Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardware and embodied AI have expanded their capabilities, current…
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…
This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and…
World models allow autonomous agents to plan and explore by predicting the visual outcomes of different actions. However, for robot manipulation, it is challenging to accurately model the fine-grained robot-object interaction within the…
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…
Biped robots have plenty of benefits over wheeled, quadruped, or hexapod robots due to their ability to behave like human beings in tough and non-flat environments. Deformable terrain is another challenge for biped robots as it has to deal…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
One goal of dexterous robotic grasping is to allow robots to handle objects with the same level of flexibility and adaptability as humans. However, it remains a challenging task to generate an optimal grasping strategy for dexterous hands,…
The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent advances in soft robotic grasping has greatly improved grasp…
Non-prehensile pushing to move and reorient objects to a goal is a versatile loco-manipulation skill. In the real world, the object's physical properties and friction with the floor contain significant uncertainties, which makes the task…
This paper studies the problem of using a robot arm to manipulate a uniformly rotating chain with its bottom end fixed. Existing studies have investigated ideal rotational shapes for practical applications, yet they do not discuss how these…
For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…
In this work, we conducted research on deformable object manipulation by robots based on demonstration-enhanced reinforcement learning (RL). To improve the learning efficiency of RL, we enhanced the utilization of demonstration data from…