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Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…
As collaborative robots enter industrial shop floors, logistics, and manufacturing, rapid and flexible evaluation of human-machine interaction has become more important. The availability of consumer headsets for virtual and augmented…
Developing autonomous home robots controlled by natural language has long been a pursuit of humanity. While advancements in large language models (LLMs) and embodied intelligence make this goal closer, several challenges persist: the lack…
Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…
The development of assistive robotic agents to support household tasks is advancing, yet the underlying models often operate in virtual settings that do not reflect real-world complexity. For assistive care robots to be effective in diverse…
To enable machines to understand the way humans interact with the physical world in daily life, 3D interaction signals should be captured in natural settings, allowing people to engage with multiple objects in a range of sequential and…
Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track,…
With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to…
3D object reconfiguration encompasses common robot manipulation tasks in which a set of objects must be moved through a series of physically feasible state changes into a desired final configuration. Object reconfiguration is challenging to…
This paper presents a survey of the state-of-the-art deformable models studied in the literature concerning soft tissue deformable modeling for interactive surgical simulation. It first introduces the challenges of surgical simulation,…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
In order for autonomous robots to be able to support people's well-being in homes and everyday environments, new interactive capabilities will be required, as exemplified by the soft design used for Disney's recent robot character Baymax in…
Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate…
Laminate mechanisms are a reliable concept in producing lowcost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
Learned world models hold significant potential for robotic manipulation, as they can serve as simulator for real-world interactions. While extensive progress has been made in 2D video-based world models, these approaches often lack…
World models for deformable objects should recover not only geometry and appearance, but also underlying physical dynamics, interaction grounding, and material behavior. Learning such a model from real videos is challenging because…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…