Related papers: CollaBot: Vision-Language Guided Simultaneous Coll…

Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate objects once contact is made, and how to navigate safely and…

Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…

Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we…

Foundation models pre-trained on web-scale data are shown to encapsulate extensive world knowledge beneficial for robotic manipulation in the form of task planning. However, the actual physical implementation of these plans often relies on…

The growing presence of service robots in human-centric environments, such as warehouses, demands seamless and intuitive human-robot collaboration. In this paper, we propose a collaborative shelf-picking framework that combines multimodal…

Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…

This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…

Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…

Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…

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…

This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…

The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…

This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…

We propose DINOBot, a novel imitation learning framework for robot manipulation, which leverages the image-level and pixel-level capabilities of features extracted from Vision Transformers trained with DINO. When interacting with a novel…

This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…

The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unstructured surrounding environments according to different…

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…

Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…

How can we imbue robots with the ability to manipulate objects precisely but also to reason about them in terms of abstract concepts? Recent works in manipulation have shown that end-to-end networks can learn dexterous skills that require…

We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos can serve as a rich source of data for learning such…