Related papers: A3D: Adaptive Affordance Assembly with Dual-Arm Ma…
3D Object Affordance Grounding aims to predict the functional regions on a 3D object and has laid the foundation for a wide range of applications in robotics. Recent advances tackle this problem via learning a mapping between 3D regions and…
We present AnchorDP3, a diffusion policy framework for dual-arm robotic manipulation that achieves state-of-the-art performance in highly randomized environments. AnchorDP3 integrates three key innovations: (1) Simulator-Supervised Semantic…
Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a dual-arm robotic system capable of end-to-end planning and…
Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and assembly uncertainties. We present an adaptive human-robot…
We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…
Visual actionable affordance has emerged as a transformative approach in robotics, focusing on perceiving interaction areas prior to manipulation. Traditional methods rely on pixel sampling to identify successful interaction samples or…
Bimanual manipulation requires reasoning about where to interact with an object and which arm should perform each action, a joint affordance localization and arm allocation problem that geometry-only planners cannot resolve without semantic…
In order to enable robust operation in unstructured environments, robots should be able to generalize manipulation actions to novel object instances. For example, to pour and serve a drink, a robot should be able to recognize novel…
Grasp detection in clutter requires the robot to reason about the 3D scene from incomplete and noisy perception. In this work, we draw insight that 3D reconstruction and grasp learning are two intimately connected tasks, both of which…
Perceiving and manipulating 3D articulated objects in diverse environments is essential for home-assistant robots. Recent studies have shown that point-level affordance provides actionable priors for downstream manipulation tasks. However,…
In this paper we show how different choices regarding compliance affect a dual-arm assembly task. In addition, we present how the compliance parameters can be learned from a human demonstration. Compliant motions can be used in assembly…
We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…
Despite the recent success of modern imitation learning methods in robot manipulation, their performance is often constrained by geometric variations due to limited data diversity. Leveraging powerful 3D generative models and vision…
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…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
Tolerancing of assembly mechanisms is a major interest in the product life cycle. One can distinguish several models with growing complexity, from 1-dimensional (1D) to 3-dimensional (3D) (including form deviations), and two main…
3D perceptual representations are well suited for robot manipulation as they easily encode occlusions and simplify spatial reasoning. Many manipulation tasks require high spatial precision in end-effector pose prediction, which typically…
Humans perceive and interact with the world with the awareness of equivariance, facilitating us in manipulating different objects in diverse poses. For robotic manipulation, such equivariance also exists in many scenarios. For example, no…