Related papers: OpenHEART: Opening Heterogeneous Articulated Objec…
The heterogeneous network is a robust data abstraction that can model entities of different types interacting in various ways. Such heterogeneity brings rich semantic information but presents nontrivial challenges in aggregating the…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…
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…
The world is filled with articulated objects that are difficult to determine how to use from vision alone, e.g., a door might open inwards or outwards. Humans handle these objects with strategic trial-and-error: first pushing a door then…
Robotic object singulation, where a robot must isolate, grasp, and retrieve a target object in a cluttered environment, is a fundamental challenge in robotic manipulation. This task is difficult due to occlusions and how other objects act…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…
Generating articulated objects, such as laptops and microwaves, is a crucial yet challenging task with extensive applications in Embodied AI and AR/VR. Current image-to-3D methods primarily focus on surface geometry and texture, neglecting…
3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…
Manipulation surfaces indirectly control and reposition objects by actively modifying their shape or properties rather than directly gripping objects. These surfaces, equipped with dense actuator arrays, generate dynamic deformations.…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
Sequentially interacting with articulated objects is crucial for a mobile manipulator to operate effectively in everyday environments. To enable long-horizon tasks involving articulated objects, this study explores building scene-level…
A deep understanding of kinematic structures and movable components is essential for enabling robots to manipulate objects and model their own articulated forms. Such understanding is captured through articulated objects, which are…
The significant variability in cell size and shape continues to pose a major obstacle in computer-assisted cancer detection on gigapixel Whole Slide Images (WSIs), due to cellular heterogeneity. Current CNN-Transformer hybrids use static…
We introduce ART, Articulated Reconstruction Transformer -- a category-agnostic, feed-forward model that reconstructs complete 3D articulated objects from only sparse, multi-state RGB images. Previous methods for articulated object…
This paper introduces a learning-based framework for robot adaptive manipulating the object with a revolute joint in unstructured environments. We concentrate our discussion on various cabinet door opening tasks. To improve the performance…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
Articulated 3D objects are critical for embodied AI, robotics, and interactive scene understanding, yet creating simulation-ready assets remains labor-intensive and requires expert modeling of part hierarchies and motion structures. We…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…