Related papers: PreAfford: Universal Affordance-Based Pre-Grasping…
Generalizable manipulation involving cross-type object interactions is a critical yet challenging capability in robotics. To reliably accomplish such tasks, robots must address two fundamental challenges: "where to manipulate" (contact…
This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…
Grasping by a robot in unstructured environments is deemed a critical challenge because of the requirement for effective adaptation to a wide variation in object geometries, material properties, and other environmental factors. In this…
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…
We address the problem of affordance reasoning in diverse scenes that appear in the real world. Affordances relate the agent's actions to their effects when taken on the surrounding objects. In our work, we take the egocentric view of the…
Affordances are the possibilities of actions the environment offers to the individual. Ordinary objects (hammer, knife) usually have many affordances (grasping, pounding, cutting), and detecting these allow artificial agents to understand…
Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables…
Understanding what objects could furnish for humans-namely, learning object affordance-is the crux to bridge perception and action. In the vision community, prior work primarily focuses on learning object affordance with dense (e.g., at a…
A successful robot-assisted feeding system requires bite acquisition of a wide variety of food items. It must adapt to changing user food preferences under uncertain visual and physical environments. Different food items in different…
Affordance grounding focuses on predicting the specific regions of objects that are associated with the actions to be performed by robots. It plays a vital role in the fields of human-robot interaction, human-object interaction, embodied…
Affordance grounding aims to locate objects' "action possibilities" regions, which is an essential step toward embodied intelligence. Due to the diversity of interactive affordance, the uniqueness of different individuals leads to diverse…
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…
Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…
Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current…
How can we reconstruct 3D hand poses when large portions of the hand are heavily occluded by itself or by objects? Humans often resolve such ambiguities by leveraging contextual knowledge -- such as affordances, where an object's shape and…
Underwater robotic grasping is difficult due to degraded, highly variable imagery and the expense of collecting diverse underwater demonstrations. We introduce a system that (i) autonomously collects successful underwater grasp…
Teleoperation is often limited by the ability of an operator to react and predict the behavior of the robot as it interacts with the environment. For example, to grasp small objects on a table, the teleoperator needs to predict the position…
Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide mobile grasping assistance for ADLs. The system is…
Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…
This paper presents a novel approach for affordance-informed robotic manipulation by introducing 3D keypoints to enhance the understanding of object parts' functionality. The proposed approach provides direct information about what the…