Related papers: General-purpose Clothes Manipulation with Semantic…
Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…
Effective human-robot collaboration depends on task-oriented handovers, where robots present objects in ways that support the partners intended use. However, many existing approaches neglect the humans post-handover action, relying on…
Can a robot manipulate intra-category unseen objects in arbitrary poses with the help of a mere demonstration of grasping pose on a single object instance? In this paper, we try to address this intriguing challenge by using USEEK, an…
Despite great strides in language-guided manipulation, existing work has been constrained to table-top settings. Table-tops allow for perfect and consistent camera angles, properties are that do not hold in mobile manipulation. Task plans…
Many everyday objects are difficult to directly grasp (e.g., a flat iPad) or manipulate functionally (e.g., opening the cap of a pen lying on a desk). Such tasks require sequential, asymmetric coordination between two arms, where one arm…
Multi-object rearrangement is a crucial skill for service robots, and commonsense reasoning is frequently needed in this process. However, achieving commonsense arrangements requires knowledge about objects, which is hard to transfer to…
This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…
In complex manipulation tasks, e.g., manipulation by pivoting, the motion of the object being manipulated has to satisfy path constraints that can change during the motion. Therefore, a single grasp may not be sufficient for the entire…
We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…
Cluttered garments manipulation poses significant challenges due to the complex, deformable nature of garments and intricate garment relations. Unlike single-garment manipulation, cluttered scenarios require managing complex garment…
This article introduces the Clarke transform and Clarke coordinates, which present a solution to the disengagement of an arbitrary number of coupled displacement actuation of continuum and soft robots. The Clarke transform utilizes the…
Seams are information-rich components of garments. The presence of different types of seams and their combinations helps to select grasping points for garment handling. In this paper, we propose a new Seam-Informed Strategy (SIS) for…
We address the problem of aligning real-world 3D data of garments, which benefits many applications such as texture learning, physical parameter estimation, generative modeling of garments, etc. Existing extrinsic methods typically perform…
We investigate robotic assistants for dressing that can anticipate the motion of the person who is being helped. To this end, we use reinforcement learning to create models of human behavior during assistance with dressing. To explore this…
Cross-embodiment learning seeks to build generalist robots that operate across diverse morphologies, but differences in action spaces and kinematics hinder data sharing and policy transfer. This raises a central question: Is there any…
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…
Semantic mapping is the task of providing a robot with a map of its environment beyond the open, navigable space of traditional Simultaneous Localization and Mapping (SLAM) algorithms by attaching semantics to locations. The system…
To ensure that a robot is able to accomplish an extensive range of tasks, it is necessary to achieve a flexible combination of multiple behaviors. This is because the design of task motions suited to each situation would become increasingly…
Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…
Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…