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This study proposes a data-driven method that detects cable damage from measured cable forces by recognizing biased patterns from the intact conditions. The proposed method solves the pattern recognition problem for cable damage detection…

The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topological integrity during contact-rich…

Deformable objects present several challenges to the field of robotic manipulation. One of the tasks that best encapsulates the difficulties arising due to non-rigid behavior is shape control, which requires driving an object to a desired…

Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…

Compared to current AI or robotic systems, humans navigate their environment with ease, making tasks such as data collection trivial. However, humans find it harder to model complex relationships hidden in the data. AI systems, especially…

Cables are complex, high dimensional, and dynamic objects. Standard approaches to manipulate them often rely on conservative strategies that involve long series of very slow and incremental deformations, or various mechanical fixtures such…

Manipulation of elastoplastic objects like dough often involves topological changes such as splitting and merging. The ability to accurately predict these topological changes that a specific action might incur is critical for planning…

Continuum robots are becoming increasingly popular for applications which require the robots to deform and change shape, while also being compliant. A cable-driven continuum robot is one of the most commonly used type. Typical cable driven…

Flexible continuum manipulators are valued for minimally invasive surgery, offering access to confined spaces through nonlinear paths. However, cable-driven manipulators face control difficulties due to hysteresis from cabling effects such…

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…

We propose a novel tree classification system called Treelogy, that fuses deep representations with hand-crafted features obtained from leaf images to perform leaf-based plant classification. Key to this system are segmentation of the leaf…

This paper introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera. Despite the significant progress of 6D pose estimation methods, their…

Recent advances in AI and robotics have claimed many incredible results with deep learning, yet no work to date has applied deep learning to the problem of liquid perception and reasoning. In this paper, we apply fully-convolutional deep…

We propose a hardware and software pipeline to fabricate flexible wearable sensors and use them to capture deformations without line of sight. Our first contribution is a low-cost fabrication pipeline to embed multiple aligned conductive…

Sequential DeepFake detection is an emerging task that predicts the manipulation sequence in order. Existing methods typically formulate it as an image-to-sequence problem, employing conventional Transformer architectures. However, these…

Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills. However, many of the more complex behaviors are also notoriously difficult to control: Performing in-hand object…

Recognizing human activities in a sequence is a challenging area of research in ubiquitous computing. Most approaches use a fixed size sliding window over consecutive samples to extract features---either handcrafted or learned…

Segmentation and tracking of unseen object instances in discrete frames pose a significant challenge in dynamic industrial robotic contexts, such as distribution warehouses. Here, robots must handle object rearrangement, including shifting,…

Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…

We present the HANDAL dataset for category-level object pose estimation and affordance prediction. Unlike previous datasets, ours is focused on robotics-ready manipulable objects that are of the proper size and shape for functional grasping…