Related papers: PROGrasp: Pragmatic Human-Robot Communication for …
Active perception, the ability of a robot to proactively adjust its viewpoint to acquire task-relevant information, is essential for robust operation in unstructured real-world environments. While critical for downstream tasks such as…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
Recognizing and grasping novel-category objects remains a crucial yet challenging problem in real-world robotic applications. Despite its significance, limited research has been conducted in this specific domain. To address this, we…
Generating high-quality whole-body human object interaction motion sequences is becoming increasingly important in various fields such as animation, VR/AR, and robotics. The main challenge of this task lies in determining the level of…
Gestures serve as a fundamental and significant mode of non-verbal communication among humans. Deictic gestures (such as pointing towards an object), in particular, offer valuable means of efficiently expressing intent in situations where…
Robotic manipulation of unseen objects via natural language commands remains challenging. Language driven robotic grasping (LDRG) predicts stable grasp poses from natural language queries and RGB-D images. We propose MapleGrasp, a novel…
We present a method for controlling a simulated humanoid to grasp an object and move it to follow an object's trajectory. Due to the challenges in controlling a humanoid with dexterous hands, prior methods often use a disembodied hand and…
Reliable object grasping is a crucial capability for autonomous robots. However, many existing grasping approaches focus on general clutter removal without explicitly modeling objects and thus only relying on the visible local geometry. We…
Designing robotic assistance devices for manipulation tasks is challenging. This work is concerned with improving accuracy and usability of semi-autonomous robots, such as human operated manipulators or exoskeletons. The key insight is to…
For transradial amputees, robotic prosthetic hands promise to regain the capability to perform daily living activities. To advance next-generation prosthetic hand control design, it is crucial to address current shortcomings in robustness…
Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but communication through force signals is not well understood.…
This paper explores a novel task "Dexterous Grasp as You Say" (DexGYS), enabling robots to perform dexterous grasping based on human commands expressed in natural language. However, the development of this field is hindered by the lack of…
In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rare to occur. Rather, multiple candidate grasps must be…
Human-robot collaboration requires robots to quickly infer user intent, provide transparent reasoning, and assist users in achieving their goals. Our recent work introduced GUIDER, our framework for inferring navigation and manipulation…
To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…
Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…
As robotic technology rapidly develops, robots are being employed in an increasing number of fields. However, due to the complexity of deployment environments or the prevalence of ambiguous-condition objects, the practical application of…
Human-Robot collaboration in home and industrial workspaces is on the rise. However, the communication between robots and humans is a bottleneck. Although people use a combination of different types of gestures to complement speech, only a…
In this work, we address a challenging problem of fine-grained and coarse-grained recognition of object manipulation actions. Due to the variations in geometrical and motion constraints, there are different manipulations actions possible to…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…