Related papers: Stable Object Placement Planning From Contact Poin…
Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…
Rearranging objects in cluttered tabletop environments remains a long-standing challenge in robotics. Classical planners often generate inefficient, high-cost plans by shuffling objects individually and using fixed buffers--temporary spaces…
In this work, we present a grasp planner which integrates two sources of information to generate robust grasps for a robotic hand. First, the topological information of the object model is incorporated by building the mean curvature…
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…
Grasping of novel objects in pick and place applications is a fundamental and challenging problem in robotics, specifically for complex-shaped objects. It is observed that the well-known strategies like \textit{i}) grasping from the…
We introduce the concept of geometric stability to the problem of 6D object pose estimation and propose to learn pose inference based on geometrically stable patches extracted from observed 3D point clouds. According to the theory of…
This study demonstrates that incorporating a consistency heuristic into the point-matching algorithm \cite{yerebakan2023hierarchical} improves robustness in matching anatomical locations across pairs of medical images. We validated our…
We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple "pick-and-place" solution. Our method is a…
Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
Belief space planning is a viable alternative to formalise partially observable control problems and, in the recent years, its application to robot manipulation problems has grown. However, this planning approach was tried successfully only…
Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…
Prehensile object rearrangement in cluttered and confined spaces has broad applications but is also challenging. For instance, rearranging products in a grocery shelf means that the robot cannot directly access all objects and has limited…
In this work, we address the limitation of surface fitting-based grasp planning algorithm, which primarily focuses on geometric alignment between the gripper and object surface while overlooking the stability of contact point distribution,…
This paper presents a non-manual design engineering method based on heuristic search algorithm to search for candidate agents in the solution space which formed by artificial intelligence agents modeled on the base of bionics.Compared with…
Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…
In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps. Efficient solutions for the problem, which capture a common task that we solve on a daily basis, are essential in…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…