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Deep learning methods for material property prediction have been widely explored to advance materials discovery. However, the prevailing pre-train then fine-tune paradigm often fails to address the inherent diversity and disparity of…
Semantics has enabled 3D scene understanding and affordance-driven object interaction. However, robots operating in real-world environments face a critical limitation: they cannot anticipate how objects move. Long-horizon mobile…
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
Accurate 6D object pose estimation is essential for various robotic tasks. Uncertain pose estimates can lead to task failures; however, a certain degree of error in the pose estimates is often acceptable. Hence, by quantifying errors in the…
Robotic catching of flying objects typically generates high impact forces that might lead to task failure and potential hardware damages. This is accentuated when the object mass to robot payload ratio increases, given the strong inertial…
We focus on the task of language-conditioned object placement, in which a robot should generate placements that satisfy all the spatial relational constraints in language instructions. Previous works based on rule-based language parsing or…
Soft robot manipulators have the potential for deployment in delicate environments to perform complex manipulation tasks. However, existing obstacle detection and avoidance methods do not consider limits on the forces that manipulators may…
Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use camera, IMU, and UWB sensors. Nevertheless, characteristics of…
IMUs are regularly used to sense human motion, recognize activities, and estimate full-body pose. Users are typically required to place sensors in predefined locations that are often dictated by common wearable form factors and the machine…
In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex…
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…
In this paper, we tackle the copy-paste image-to-image composition problem with a focus on object placement learning. Prior methods have leveraged generative models to reduce the reliance for dense supervision. However, this often limits…
Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. Many traditional methods generate robot-centric actions, which differ from intuitive human strategies and are typically inefficient. To…
Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be…
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…