Related papers: Learning Bimanual Manipulation via Action Chunking…
Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…
In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixed. This amounts to complicated nonlinear equality…
To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that…
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…
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…
Building autonomous mobile robots (AMRs) with optimized efficiency and adaptive capabilities-able to respond to changing task demands and dynamic environments-is a strongly desired goal for advancing construction robotics. Such robots can…
In real-world human-robot systems, it is essential for a robot to comprehend human objectives and respond accordingly while performing an extended series of motor actions. Although human objective alignment has recently emerged as a…
Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…
A major challenge for the realization of intelligent robots is to supply them with cognitive abilities in order to allow ordinary users to program them easily and intuitively. One way of such programming is teaching work tasks by…
In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration, focusing on frictional patch contacts between the robot's…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…
Designing artificial cyber-agents able to interact with human safely, smartly and in a natural way is a current open problem in control. Solving such an issue will allow the design of cyber-agents capable of co-operatively interacting with…
Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…
This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constraints such as surface collisions. Traditional robot…
Robotic Manipulation (RM) is central to the advancement of autonomous robots, enabling them to interact with and manipulate objects in real-world environments. This survey focuses on RM methodologies that leverage imitation learning, a…
Collaborative robotics requires effective communication between a robot and a human partner. This work proposes a set of interpretive principles for how a robotic arm can use pointing actions to communicate task information to people by…
Bimanual handovers are crucial for transferring large, deformable or delicate objects. This paper proposes a framework for generating kinematically constrained human-like bimanual robot motions to ensure seamless and natural robot-to-human…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…