Related papers: PhyPlan: Generalizable and Rapid Physical Task Pla…
Vision-Language Models (VLMs) exhibit remarkable common-sense and semantic reasoning capabilities. However, they lack a grounded understanding of physical dynamics. This limitation arises from training VLMs on static internet-scale…
A robot as a coworker or a cohabitant is becoming mainstream day-by-day with the development of low-cost sophisticated hardware. However, an accompanying software stack that can aid the usability of the robotic hardware remains the…
Physics-informed neural networks (PINNs) are at the forefront of scientific machine learning, making possible the creation of machine intelligence that is cognizant of physical laws and able to accurately simulate them. However, today's…
Artificial neural networks (ANNs), which are inspired by the brain, are a central pillar in the ongoing breakthrough in artificial intelligence. In recent years, researchers have examined mechanical implementations of ANNs, denoted as…
Physics-Informed Neural Network (PINN) is a novel multi-task learning framework useful for solving physical problems modeled using differential equations (DEs) by integrating the knowledge of physics and known constraints into the…
Humans are well-versed in reasoning about the behaviors of physical objects and choosing actions accordingly to accomplish tasks, while it remains a major challenge for AI. To facilitate research addressing this problem, we propose a new…
In physical human-robot interaction, force feedback has been the most common sensing modality to convey the human intention to the robot. It is widely used in admittance control to allow the human to direct the robot. However, it cannot be…
Physics-Informed Neural Networks (PINNs) have recently been proposed to solve scientific and engineering problems, where physical laws are introduced into neural networks as prior knowledge. With the embedded physical laws, PINNs enable the…
Traditional robot task planning methods face challenges when dealing with highly unstructured environments and complex tasks. We propose a task planning method that combines human expertise with an LLM and have designed an LLM prompt…
Physics-informed neural networks (PINNs) have been widely used to solve various scientific computing problems. However, large training costs limit PINNs for some real-time applications. Although some works have been proposed to improve the…
Physics-informed neural networks (PINNs) have recently become a powerful tool for solving partial differential equations (PDEs). However, finding a set of neural network parameters that lead to fulfilling a PDE can be challenging and…
Humans naturally grasp objects with minimal level required force for stability, whereas robots often rely on rigid, over-squeezing control. To narrow this gap, we propose a human-inspired physics-conditioned tactile method (Phy-Tac) for…
We propose a self-supervised physics-informed neural network (PINN) framework that adaptively balances physics-based and data-driven supervision for scientific machine learning under data scarcity. Unlike prior PINNs that rely on fixed or…
Motion planning (MP) is one of the core robotics problems requiring fast methods for finding a collision-free robot motion path connecting the given start and goal states. Neural motion planners (NMPs) demonstrate fast computational speed…
Physics-Informed Neural Networks (PINNs) serve as a flexible alternative for tackling forward and inverse problems in differential equations, displaying impressive advancements in diverse areas of applied mathematics. Despite integrating…
We propose a novel approach to multi-fingered grasp planning leveraging learned deep neural network models. We train a convolutional neural network to predict grasp success as a function of both visual information of an object and grasp…
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…
In this work, we present a manipulation planning algorithm for a robot to keep an object stable under changing external forces. We particularly focus on the case where a human may be applying forceful operations, e.g. cutting or drilling,…
Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…
Cognitive planning is the structural decomposition of complex tasks into a sequence of future behaviors. In the computational setting, performing cognitive planning entails grounding plans and concepts in one or more modalities in order to…