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Choosing appropriate fabrics is critical for meeting functional and quality demands in robotic textile manufacturing, apparel production, and smart retail. We propose MLLM-Fabric, a robotic framework leveraging multimodal large language…
Robotic grasping is a fundamental ability for a robot to interact with the environment. Current methods focus on how to obtain a stable and reliable grasping pose in object level, while little work has been studied on part (shape)-wise…
Large Language Models (LLMs) possess extensive foundational knowledge and moderate reasoning abilities, making them suitable for general task planning in open-world scenarios. However, it is challenging to ground a LLM-generated plan to be…
The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…
Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a…
Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…
Heating, Ventilation, and Air-Conditioning (HVAC) systems account for a substantial share of global building energy use, making reliable anomaly detection essential for improving efficiency and reducing emissions. Classical rule-based…
We humans rely on a wide range of commonsense knowledge to interact with an extensive number and categories of objects in the physical world. Likewise, such commonsense knowledge is also crucial for robots to successfully develop…
Dexterous manipulation with a multi-finger hand is one of the most challenging problems in robotics. While recent progress in imitation learning has largely improved the sample efficiency compared to Reinforcement Learning, the learned…
Robots interacting with humans through natural language can unlock numerous applications such as Referring Grasp Synthesis (RGS). Given a text query, RGS determines a stable grasp pose to manipulate the referred object in the robot's…
One goal of dexterous robotic grasping is to allow robots to handle objects with the same level of flexibility and adaptability as humans. However, it remains a challenging task to generate an optimal grasping strategy for dexterous hands,…
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…
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…
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Autonomous grasping of novel objects that are previously unseen to a robot is an ongoing challenge in robotic manipulation. In the last decades, many approaches have been presented to address this problem for specific robot hands. The…
Low-shot image classification, where training images are limited or inaccessible, has benefited from recent progress on pre-trained vision-language (VL) models with strong generalizability, e.g. CLIP. Prompt learning methods built with VL…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
Human models play a crucial role in human-robot interaction (HRI), enabling robots to consider the impact of their actions on people and plan their behavior accordingly. However, crafting good human models is challenging; capturing…
Grasp synthesis for 3D deformable objects remains a little-explored topic, most works aiming to minimize deformations. However, deformations are not necessarily harmful -- humans are, for example, able to exploit deformations to generate…