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Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that…
Planning robot dexterity is challenging due to the non-smoothness introduced by contacts, intricate fine motions, and ever-changing scenarios. We present a hierarchical planning framework for dexterous robotic manipulation (HiDex). This…
This paper addresses the problem of contact-based manipulation of deformable linear objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the burden of high-dimensional continuous state-action spaces, we model…
We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…
The objective of this work is to augment the basic abilities of a robot by learning to use sensorimotor primitives to solve complex long-horizon manipulation problems. This requires flexible generative planning that can combine primitive…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
Robots often face manipulation tasks in environments where vision is inadequate due to clutter, occlusions, or poor lighting--for example, reaching a shutoff valve at the back of a sink cabinet or locating a light switch above a crowded…
Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…
This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC)…
We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…
Biological systems exhibit a continuous stream of movements, consisting of sequential segments, that allow them to perform complex tasks in a creative and versatile fashion. This observation has led researchers towards identifying…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…