Related papers: RICE: Reactive Interaction Controller for Cluttere…
Reinforcement learning (RL) has achieved remarkable success in various robotic tasks; however, its deployment in real-world scenarios, particularly in contact-rich environments, often overlooks critical safety and stability aspects.…
Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…
Pushing objects through cluttered scenes is a challenging task, especially when the objects to be pushed have initially unknown dynamics and touching other entities has to be avoided to reduce the risk of damage. In this paper, we approach…
Forestry cranes operate in dynamic, unstructured outdoor environments where simultaneous collision avoidance and payload sway control are critical for safe navigation. Existing approaches address these challenges separately, either focusing…
This paper presents an interconnected control-planning strategy for redundant manipulators, subject to system and environmental constraints. The method incorporates low-level control characteristics and high-level planning components into a…
Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way…
In unknown cluttered environments with densely stacked objects, the free-motion space is extremely barren, posing significant challenges to motion planners. Collision-free planning methods often suffer from catastrophic failures due to…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
This paper presents a provably correct method for robot navigation in 2D environments cluttered with familiar but unexpected non-convex, star-shaped obstacles as well as completely unknown, convex obstacles. We presuppose a limited range…
Achieving human-like dexterity is a longstanding challenge in robotics, in part due to the complexity of planning and control for contact-rich systems. In reinforcement learning (RL), one popular approach has been to use…
Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in…
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…
Swarm robotics systems have the potential to transform warfighting in urban environments, but until now have not seen large-scale field testing. We present the Rapid Integration Swarming Ecosystem (RISE), a platform for future multi-agent…
In this work, we explore how conventional motion planning algorithms can be reapplied to contact-rich manipulation tasks. Rather than focusing solely on efficiency, we investigate how manipulation aspects can be recast in terms of…
Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
Robots operating in human-centric environments require the integration of visual grounding and grasping capabilities to effectively manipulate objects based on user instructions. This work focuses on the task of referring grasp synthesis,…
Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…
As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…
This paper proposes a novel approach to performing in-grasp manipulation: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp…