Related papers: Planning for Multi-Object Manipulation with Graph …
Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…
Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…
Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…
Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…
Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…
Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to minimise the disruption caused to humans while moving. This implies predicting how people will move and complying with social…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
In recent years, graph neural networks have been successfully applied for learning the dynamics of complex and partially observable physical systems. However, their use in the robotics domain is, to date, still limited. In this paper, we…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
In this work, we present a manipulation planning algorithm for a robot to keep an object stable under changing external forces. We particularly focus on the case where a human may be applying forceful operations, e.g. cutting or drilling,…
The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…
Robots that arrange household objects should do so according to the user's preferences, which are inherently subjective and difficult to model. We present NeatNet: a novel Variational Autoencoder architecture using Graph Neural Network…
This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…
Graph neural networks have been widely used for learning representations of nodes for many downstream tasks on graph data. Existing models were designed for the nodes on a single graph, which would not be able to utilize information across…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…
To achieve seamless human-robot interactions, robots need to intimately reason about complex interaction dynamics and future human behaviors within their motion planning process. However, there is a disconnect between state-of-the-art…
Reorienting objects by using supports is a practical yet challenging manipulation task. Owing to the intricate geometry of objects and the constrained feasible motions of the robot, multiple manipulation steps are required for object…
A robot working in a physical environment (like home or factory) needs to learn to use various available tools for accomplishing different tasks, for instance, a mop for cleaning and a tray for carrying objects. The number of possible tools…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…