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Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…
We present a virtual reality (VR) framework to automate the data collection process in cloth folding tasks. The framework uses skeleton representations to help the user define the folding plans for different classes of garments, allowing…
Dynamic manipulation of flexible objects such as fabric, which is difficult to modelize, is one of the major challenges in robotics. With the development of deep learning, we are beginning to see results in simulations and in some actual…
Artificial intelligence is essential to succeed in challenging activities that involve dynamic environments, such as object manipulation tasks in indoor scenes. Most of the state-of-the-art literature explores robotic grasping methods by…
Clay sculpting is a nuanced, artistic task involving dexterous manipulation with long-horizon planning to achieve high-level goals. As a robotics problem, we formulate clay sculpting as a shape-to-shape matching challenge. Prior deformable…
Grounded haptic devices can provide a variety of forces but have limited working volumes. Wearable haptic devices operate over a large volume but are relatively restricted in the types of stimuli they can generate. We propose the concept of…
Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track,…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
Understanding and manipulating deformable objects (e.g., ropes and fabrics) is an essential yet challenging task with broad applications. Difficulties come from complex states and dynamics, diverse configurations and high-dimensional action…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
The increasing labor shortage and aging population underline the need for assistive robots to support human care recipients. To enable safe and responsive assistance, robots require accurate human motion prediction in physical interaction…
Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit, multi-modal, and continuous representation for…
Multi-step cloth manipulation is a challenging problem for robots due to the high-dimensional state spaces and the dynamics of cloth. Despite recent significant advances in end-to-end imitation learning for multi-step cloth manipulation…
Digital communication tools are limited to visual and auditory information and lack non-verbal information such as touch, which is important for communicating intentions and emotions. In order to solve this problem, the use of haptic…
Fabric manipulation has applications in folding blankets, handling patient clothing, and protecting items with covers. It is challenging for robots to perform fabric manipulation since fabrics have infinite-dimensional configuration spaces,…
This paper proposes a novel method for understanding daily hand-object manipulation by developing computer vision-based techniques. Specifically, we focus on recognizing hand grasp types, object attributes and manipulation actions within an…
Accurate manipulation of a deformable body such as a piece of fabric is difficult because of its many degrees of freedom and unobservable properties affecting its dynamics. To alleviate these challenges, we propose the application of…
Recent monocular human performance capture approaches have shown compelling dense tracking results of the full body from a single RGB camera. However, existing methods either do not estimate clothing at all or model cloth deformation with…
Robotic deformable-object manipulation is a challenge in the robotic industry because deformable objects have complicated and various object states. Predicting those object states and updating manipulation planning is time-consuming and…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…