Related papers: Force Map: Learning to Predict Contact Force Distr…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

Existing research on non-verbal cues, e.g., eye gaze or arm movement, may not accurately present a robot's internal states such as perception results and action intent. Projecting the states directly onto a robot's operating environment has…

Creating scenes for captured motions that achieve realistic human-scene interaction is crucial for 3D animation in movies or video games. As character motion is often captured in a blue-screened studio without real furniture or objects in…

This paper presents a sampling-based motion planning framework that leverages the geometry of obstacles in a workspace as well as prior experiences from motion planning problems. Previous studies have demonstrated the benefits of utilizing…

Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…

Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…

Object recognition is a key function in both human and machine vision. While recent studies have achieved fMRI decoding of seen and imagined contents, the prediction is limited to training examples. We present a decoding approach for…

Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…

Robots coexisting with humans in their environment and performing services for them need the ability to interact with them. One particular requirement for such robots is that they are able to understand spatial relations and can place…

Recent advances in video generation models have sparked interest in world models capable of simulating realistic environments. While navigation has been well-explored, physically meaningful interactions that mimic real-world forces remain…

The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…

We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple "pick-and-place" solution. Our method is a…

From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…

Reinforcement learning shows great potential to solve complex contact-rich robot manipulation tasks. However, the safety of using RL in the real world is a crucial problem, since unexpected dangerous collisions might happen when the RL…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds collision-free paths, but this is overly restrictive in clutter,…

Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…

In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate actions in an end-to-end manner, they often suffer from…

In this work, we present a method to estimate the mass distribution of a rigid object through robotic interactions and tactile feedback. This is a challenging problem because of the complexity of physical dynamics modeling and the action…