Related papers: Household navigation and manipulation for everyday…

As smart homes become more prevalent in daily life, the ability to understand dynamic environments is essential which is increasingly dependent on AI systems. This study focuses on developing an intelligent algorithm which can navigate a…

Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…

Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…

Benchmarking of robotic manipulations is one of the open issues in robotic research. An important factor that has enabled progress in this area in the last decade is the existence of common object sets that have been shared among different…

To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…

With humankind facing new and increasingly large-scale challenges in the medical and domestic spheres, automation of the service sector carries a tremendous potential for improved efficiency, quality, and safety of operations. Mobile…

While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…

Recent work in robotic manipulation focuses on object retrieval in cluttered spaces under occlusion. Nevertheless, the majority of efforts lack an analysis of conditions for the completeness of the approaches or the methods apply only when…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

Underwater robotic manipulation faces significant challenges due to complex fluid dynamics and unstructured environments, causing most manipulation systems to rely heavily on human teleoperation. In this paper, we introduce AquaBot, a fully…

Robotic systems for household object rearrangement often rely on latent preference models inferred from human demonstrations. While effective at prediction, these models offer limited insight into the interpretable factors that guide human…

With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…

As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…

Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…

Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…

Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…