Related papers: AdaManip: Adaptive Articulated Object Manipulation…
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 the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
Effective robotic manipulation requires policies that can anticipate physical outcomes and adapt to real-world environments. Effective robotic manipulation requires policies that can anticipate physical outcomes and adapt to real-world…
Perceiving and manipulating 3D articulated objects in diverse environments is essential for home-assistant robots. Recent studies have shown that point-level affordance provides actionable priors for downstream manipulation tasks. However,…
Recent works in robotic manipulation through reinforcement learning (RL) or imitation learning (IL) have shown potential for tackling a range of tasks e.g., opening a drawer or a cupboard. However, these techniques generalize poorly to…
When humans perform a task with an articulated object, they interact with the object only in a handful of ways, while the space of all possible interactions is nearly endless. This is because humans have prior knowledge about what…
Dexterous manipulation with a multi-finger hand is one of the most challenging problems in robotics. While recent progress in imitation learning has largely improved the sample efficiency compared to Reinforcement Learning, the learned…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
Articulated objects are commonly found in daily life. It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world robotic applications. However, existing methods for articulated…
Building interactive simulators and scalable robot-learning environments requires a large number of articulated assets. However, most existing 3D assets in simulation are rigid, and manually converting them into articulated objects is…
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…
Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
We explore a novel method to perceive and manipulate 3D articulated objects that generalizes to enable a robot to articulate unseen classes of objects. We propose a vision-based system that learns to predict the potential motions of the…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
Autonomous robots operating in real-world environments encounter a variety of objects that can be both rigid and articulated in nature. Having knowledge of these specific object properties not only helps in designing appropriate…
Virtualizing the physical world into virtual models has been a critical technique for robot navigation and planning in the real world. To foster manipulation with articulated objects in everyday life, this work explores building…
Assistive robot manipulators must be able to autonomously pick and place a wide range of novel objects to be truly useful. However, current assistive robots lack this capability. Additionally, assistive systems need to have an interface…
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…