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Robot-assisted feeding in household environments is challenging because it requires robots to generate trajectories that effectively bring food items of varying shapes and sizes into the mouth while making sure the user is comfortable. Our…
Autonomous manipulation of powders remains a significant challenge for robotic automation in scientific laboratories. The inherent variability and complex physical interactions of powders in flow, coupled with variability in laboratory…
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,…
Deploying large, complex policies in the real world requires the ability to steer them to fit the needs of a situation. Most common steering approaches, like goal-conditioning, require training the robot policy with a distribution of…
Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects…
Food-choices and eating-habits directly contribute to our long-term health. This makes the food recommender system a potential tool to address the global crisis of obesity and malnutrition. Over the past decade, artificial-intelligence and…
Diffusion models excel at creating images and videos thanks to their multimodal generative capabilities. These same capabilities have made diffusion models increasingly popular in robotics research, where they are used for generating robot…
In the last decade, reinforcement learning successfully solved complex control tasks and decision-making problems, like the Go board game. Yet, there are few success stories when it comes to deploying those algorithms to real-world…
Intelligent surgical robots have the potential to revolutionize clinical practice by enabling more precise and automated surgical procedures. However, the automation of such robot for surgical tasks remains under-explored compared to recent…
Our brains are able to exploit coarse physical models of fluids to solve everyday manipulation tasks. There has been considerable interest in developing such a capability in robots so that they can autonomously manipulate fluids adapting to…
Grasping objects is one of the most important abilities that a robot needs to master in order to interact with its environment. Current state-of-the-art methods rely on deep neural networks trained to jointly predict a graspability score…
Diffusion models have been successfully applied in areas such as image, video, and audio generation. Recent works show their promise for sequential decision-making and dexterous manipulation, leveraging their ability to model complex action…
The growing adoption of batteries in the electric vehicle industry and various consumer products has created an urgent need for effective recycling solutions. These products often contain a mix of compliant and rigid components, making…
Food packing industry workers typically pick a target amount of food by hand from a food tray and place them in containers. Since menus are diverse and change frequently, robots must adapt and learn to handle new foods in a short time-span.…
We introduce GROOT, an imitation learning method for learning robust policies with object-centric and 3D priors. GROOT builds policies that generalize beyond their initial training conditions for vision-based manipulation. It constructs…
Existing grasp prediction approaches are mostly based on offline learning, while, ignoring the exploratory grasp learning during online adaptation to new picking scenarios, i.e., objects that are unseen or out-of-domain (OOD), camera and…
Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic or geometric information, while few of them consider the…
Pottery creation is a complicated art form that requires dexterous, precise and delicate actions to slowly morph a block of clay to a meaningful, and often useful 3D goal shape. In this work, we aim to create a robotic system that can…
High-speed motions in pick-and-place operations are critical to making robots cost-effective in many automation scenarios, from warehouses and manufacturing to hospitals and homes. However, motions can be too fast -- such as when the object…
Modeling multimodal human behavior has been a key barrier to increasing the level of interaction between human and robot, particularly for collaborative tasks. Our key insight is that an effective, learned robot policy used for human-robot…