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The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Household robots have been a longstanding research topic, but they still lack human-like intelligence, particularly in manipulating open-set objects and navigating large environments efficiently and accurately. To push this boundary, we…
Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots are required not only to grasp, move, and release various…
Multi-Task Learning (MTL) has shown its importance at user products for fast training, data efficiency, reduced overfitting etc. MTL achieves it by sharing the network parameters and training a network for multiple tasks simultaneously.…
The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive.…
As service robots become more and more capable of performing useful tasks for us, there is a growing need to teach robots how we expect them to carry out these tasks. However, different users typically have their own preferences, for…
We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…
Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping…
Many problems in applied mathematics require root finding algorithms. Unfortunately, root finding methods have limitations. Firstly, regarding the convergence, there is a trade-off between the size of it's domain and it's rate. Secondly the…
We introduce a pipeline that enhances a general-purpose Vision Language Model, GPT-4V(ision), to facilitate one-shot visual teaching for robotic manipulation. This system analyzes videos of humans performing tasks and outputs executable…
When your robot grasps an object using dexterous hands or grippers, it should understand the Task-Oriented Affordances of the Object(TOAO), as different tasks often require attention to specific parts of the object. To address this…
Reinforcement finetuning (RFT) is a key technique for aligning Large Language Models (LLMs) with human preferences and enhancing reasoning, yet its effectiveness is highly sensitive to which tasks are explored during training. Uniform task…
Emotions guide our decision making process and yet have been little explored in practical ethical decision making scenarios. In this challenge, we explore emotions and how they can influence ethical decision making in a home robot context:…
The ability to open a door is essential for robots to perform home-serving and rescuing tasks. A substantial problem is to obtain the necessary parameters such as the width of the door and the length of the handle. Many researchers utilize…
Our CoBot robots have successfully performed a variety of service tasks in our multi-building environment including accompanying people to meetings and delivering objects to offices due to its navigation and localization capabilities.…
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…
Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution in an intrinsically composable, reactive, and robust way.…
3D objects (artefacts) are made to fulfill functions. Designing an object often starts with defining a list of functionalities that it should provide, also known as functional requirements. Today, the design of 3D object models is still a…
Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…