Related papers: Rethinking Bimanual Robotic Manipulation: Learning…
Many high precision (dis)assembly tasks are still being performed by humans, whereas this is an ideal opportunity for automation. This paper provides a framework which enables a non-expert human operator to teach a robotic arm to do complex…
When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible tasks. Robots might similarly unlock a range of additional…
Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its application to dual-arm manipulation tasks remains challenging.…
This paper proposes a novel method for understanding daily hand-object manipulation by developing computer vision-based techniques. Specifically, we focus on recognizing hand grasp types, object attributes and manipulation actions within an…
Most successes in robotic manipulation have been restricted to single-arm gripper robots, whose low dexterity limits the range of solvable tasks to pick-and-place, inser-tion, and object rearrangement. More complex tasks such as assembly…
Humanoid whole-body locomotion control is a critical approach for humanoid robots to leverage their inherent advantages. Learning-based control methods derived from retargeted human motion data provide an effective means of addressing this…
When performing tasks like laundry, humans naturally coordinate both hands to manipulate objects and anticipate how their actions will change the state of the clothes. However, achieving such coordination in robotics remains challenging due…
We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike prior work that relies on rigid mechanical coupling between…
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynamics that require both stable grasping and simultaneous free…
Sim-to-real transfer remains a fundamental challenge in robot manipulation due to the entanglement of perception and control in end-to-end learning. We present a decoupled framework that learns each component where it is most reliable:…
Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is…
While Vision-Language-Action (VLA) models have demonstrated remarkable success in robotic manipulation, their application has largely been confined to low-degree-of-freedom end-effectors performing simple, vision-guided pick-and-place…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interactions with…
Recent progress in vision-language-action (VLA) models has demonstrated strong potential for dual-arm manipulation, enabling complex behaviors and generalization to unseen environments. However, mainstream bimanual VLA formulations largely…
Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…
In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped from the side. Inspired by humans' bimanual manipulation, eg…