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Generating articulated objects, such as laptops and microwaves, is a crucial yet challenging task with extensive applications in Embodied AI and AR/VR. Current image-to-3D methods primarily focus on surface geometry and texture, neglecting…
Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are difficult to observe through vision alone due to occlusions,…
Open, or non-laparoscopic surgery, represents the vast majority of all operating room procedures, but few tools exist to objectively evaluate these techniques at scale. Current efforts involve human expert-based visual assessment. We…
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…
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…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Nowadays service robots are leaving the structured and completely known environments and entering human-centric settings. For these robots, object perception and grasping are two challenging tasks due to the high demand for accurate and…
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…
Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it…
Articulated objects are ubiquitous in daily life. Our goal is to achieve a high-quality reconstruction, segmentation of independent moving parts, and analysis of articulation. Recent methods analyse two different articulation states and…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
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…
We introduce a novel approach for manipulating articulated objects which are visually ambiguous, such doors which are symmetric or which are heavily occluded. These ambiguities can cause uncertainty over different possible articulation…
Existing augmented reality (AR) applications often ignore occlusion between real hands and virtual objects when incorporating virtual objects in our views. The challenges come from the lack of accurate depth and mismatch between real and…
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly increases the difficulty of this perceptual task.…
In this paper, we explore whether a robot can learn to hang arbitrary objects onto a diverse set of supporting items such as racks or hooks. Endowing robots with such an ability has applications in many domains such as domestic services,…
Learning object affordances is an effective tool in the field of robot learning. While the data-driven models investigate affordances of single or paired objects, there is a gap in the exploration of affordances of compound objects composed…
Humans can determine a proper strategy to grasp an object according to the measured physical attributes or the prior knowledge of the object. This paper proposes an approach to determining the strategy of dexterous grasping by using an…
For robots to operate autonomously in densely cluttered environments, they must reason about and potentially physically interact with obstacles to clear a path. Safely clearing a path on challenging terrain, such as a cluttered staircase,…
We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…