Related papers: UNO Push: Unified Nonprehensile Object Pushing via…
Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate objects once contact is made, and how to navigate safely and…
Non-prehensile (NP) manipulation, in which robots alter object states without forming stable grasps (for example, pushing, poking, or sliding), significantly broadens robotic manipulation capabilities when grasping is infeasible or…
We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…
We explore the problem of estimating the mass distribution of an articulated object by an interactive robotic agent. Our method predicts the mass distribution of an object by using the limited sensing and actuating capabilities of a robotic…
For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…
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…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…
Robots are increasingly expected to manipulate objects in ever more unstructured environments where the object properties have high perceptual uncertainty from any single sensory modality. This directly impacts successful object…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…
Non-prehensile manipulation using onboard sensing presents a fundamental challenge: the manipulated object occludes the sensor's field of view, creating occluded regions that can lead to collisions. We propose CURA-PPO, a reinforcement…
Accurately digitizing physical objects is central to many applications, including virtual/augmented reality, industrial design, and e-commerce. Prior research has demonstrated efficient and faithful reconstruction of objects' geometric…
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…
Pushing is a fundamental robotic skill. Existing work has shown how to exploit models of pushing to achieve a variety of tasks, including grasping under uncertainty, in-hand manipulation and clearing clutter. Such models, however, are…
Few-shot adaptation is an important capability for intelligent robots that perform tasks in open-world settings such as everyday environments or flexible production. In this paper, we propose a novel approach for non-prehensile manipulation…