Related papers: Enhancing Dexterity in Confined Spaces: Real-Time …
This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…
Data scarcity remains a fundamental bottleneck for embodied intelligence. Existing approaches use large language models (LLMs) to automate gripper-based simulation generation, but they transfer poorly to dexterous manipulation, which…
We show a new method for collision-free path planning by cGANs by mapping its latent space to only the collision-free areas of the robot joint space. Our method simply provides this collision-free latent space after which any planner, using…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…
Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing robotic hand co-design approaches are often limited in…
Robotic grasping is a fundamental skill required for object manipulation in robotics. Multi-fingered robotic hands, which mimic the structure of the human hand, can potentially perform complex object manipulation. Nevertheless, current…
Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful…
Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
Human grasps can be roughly categorized into two types: power grasps and precision grasps. Precision grasping enables tool use and is believed to have influenced human evolution. Today's multi-fingered robotic hands are effective in power…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
Nonprehensile manipulation, such as pushing and pulling, enables robots to move, align, or reposition objects that may be difficult to grasp due to their geometry, size, or relationship to the robot or the environment. Much of the existing…
Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…
Recent progress of video diffusion models have enabled extensive simulation of the physical world. While simulation with hand object interaction has been less explored. We propose DexSIM, a dexterous simulation framework for simulating…
Constrained motion planning is a challenging field of research, aiming for computationally efficient methods that can find a collision-free path on the constraint manifolds between a given start and goal configuration. These planning…