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Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…
We consider the problem of sorting a densely cluttered pile of unknown objects using a robot. This yet unsolved problem is relevant in the robotic waste sorting business. By extending previous active learning approaches to grasping, we show…
Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution…
In this paper, we propose a new action planning approach to automatically pack long linear elastic objects into common-size boxes with a bimanual robotic system. For that, we developed a hybrid geometric model to handle large-scale…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…
Many possible fields of application of robots in real world settings hinge on the ability of robots to grasp objects. As a result, robot grasping has been an active field of research for many years. With our publication we contribute to the…
Vision algorithm-based robotic arm grasping system is one of the robotic arm systems that can be applied to a wide range of scenarios. It uses algorithms to automatically identify the location of the target and guide the robotic arm to…
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a…
Social robots are increasingly introduced into children's lives as educational and social companions, yet little is known about how these products might best be introduced to their environments. The emergence of the "unboxing" phenomenon in…
We investigate whether a robot arm can learn to pick and throw arbitrary objects into selected boxes quickly and accurately. Throwing has the potential to increase the physical reachability and picking speed of a robot arm. However,…
Separating thin, flexible layers that must be individually grasped is a common but challenging manipulation primitive for most off-the-shelf grippers. A prominent example arises in clinical settings: the opening of sterile flat pouches for…
Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…
Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…
The automation of warehouse operations is crucial for improving productivity and reducing human exposure to hazardous environments. One operation frequently performed in warehouses is bin-packing where items need to be placed into…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
Assistive robot arms enable people with disabilities to conduct everyday tasks on their own. These arms are dexterous and high-dimensional; however, the interfaces people must use to control their robots are low-dimensional. Consider…
We introduce BiGym, a new benchmark and learning environment for mobile bi-manual demo-driven robotic manipulation. BiGym features 40 diverse tasks set in home environments, ranging from simple target reaching to complex kitchen cleaning.…