Related papers: Collaborative Multi-Robot Non-Prehensile Manipulat…
We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for different tasks, our approach unifies the definition of a…
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…
This paper introduces collaborating robots which provide the possibility of enhanced task performance, high reliability and decreased. Collaborating-bots are a collection of mobile robots able to self-assemble and to self-organize in order…
Non-prehensile (NP) manipulation, in which robots alter object states without forming stable grasps (for example, pushing, poking, or sliding), significantly broadens robotic manipulation capabilities when grasping is infeasible or…
Motion planning for robots of high degrees-of-freedom (DOFs) is an important problem in robotics with sampling-based methods in configuration space C as one popular solution. Recently, machine learning methods have been introduced into…
Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…
Generating realistic robotic manipulation videos is an important step toward unifying perception, planning, and action in embodied agents. While existing video diffusion models require large domain-specific datasets and struggle to…
Robotic manipulation in unstructured environments requires systems that can generalize across diverse tasks while maintaining robust and reliable performance. We introduce {GVF-TAPE}, a closed-loop framework that combines generative visual…
In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
Vision-Language-Action (VLA) models have recently emerged, demonstrating strong generalization in robotic scene understanding and manipulation. However, when confronted with long-horizon tasks that require defined goal states, such as LEGO…
Enabling robots to autonomously perform hybrid motions in diverse environments can be beneficial for long-horizon tasks such as material handling, household chores, and work assistance. This requires extensive exploitation of intrinsic…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…