Related papers: Generating Future Observations to Estimate Grasp S…

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…

Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents a data-driven oriented methodology to model the grasp space of a multi-fingered adaptive gripper for known objects.…

We introduce a novel formulation for incorporating visual feedback in controlling robots. We define a generative model from actions to image observations of features on the end-effector. Inference in the model allows us to infer the robot…

Prediction of future observations is a fundamental problem in statistics. Here we present a general approach based on the recently developed inferential model (IM) framework. We employ an IM-based technique to marginalize out the unknown…

Much of model-based reinforcement learning involves learning a model of an agent's world, and training an agent to leverage this model to perform a task more efficiently. While these models are demonstrably useful for agents, every…

We develop two novel vision methods for planning effective grasps for clear plastic bags, as well as a control method to enable a Sawyer arm with a parallel gripper to execute the grasps. The first vision method is based on classical image…

Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

While grasps must satisfy the grasping stability criteria, good grasps depend on the specific manipulation scenario: the object, its properties and functionalities, as well as the task and grasp constraints. In this paper, we consider such…

Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…

This paper considers the problem of grasp pose detection in point clouds. We follow a general algorithmic structure that first generates a large set of 6-DOF grasp candidates and then classifies each of them as a good or a bad grasp. Our…

This paper proposes a novel method for randomized bin-picking based on learning. When a two-fingered gripper tries to pick an object from the pile, a finger often contacts a neighboring object. Even if a finger contacts a neighboring…

This work proposes a learning method to accelerate robotic pick-and-place planning by predicting shared grasps. Shared grasps are defined as grasp poses feasible to both the initial and goal object configurations in a pick-and-place task.…

This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…

Robots benefit from being able to classify objects they interact with or manipulate based on their material properties. This capability ensures fine manipulation of complex objects through proper grasp pose and force selection. Prior work…

Robots operating in human-centric environments require the integration of visual grounding and grasping capabilities to effectively manipulate objects based on user instructions. This work focuses on the task of referring grasp synthesis,…

Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high…

Grasping has been a long-standing challenge in facilitating the final interface between a robot and the environment. As environments and tasks become complicated, the need to embed higher intelligence to infer from the surroundings and act…

Future sequence represents the outcome after executing the action into the environment (i.e. the trajectory onwards). When driven by the information-theoretic concept of mutual information, it seeks maximally informative consequences.…

Generative models that can model and predict sequences of future events can, in principle, learn to capture complex real-world phenomena, such as physical interactions. However, a central challenge in video prediction is that the future is…