Related papers: Manipulation Planning for Construction Activities …
Utilizing robotic systems in the construction industry is gaining popularity due to their build time, precision, and efficiency. In this paper, we introduce a system that allows the coordination of multiple manipulator robots for…
In this paper, we present a novel method of motion planning for performing complex manipulation tasks by using human demonstration and exploiting the screw geometry of motion. We consider complex manipulation tasks where there are…
Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…
Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…
Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…
Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…
In this paper, we study the problem of methodically obtaining a sufficient set of kinesthetic demonstrations, one at a time, such that a robot can be confident of its ability to perform a complex manipulation task in a given region of its…
We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a person in virtual reality. This is…
We consider the problem of learning multi-stage vision-based tasks on a real robot from a single video of a human performing the task, while leveraging demonstration data of subtasks with other objects. This problem presents a number of…
Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…
Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on motion planning for one particular setup wherein a six-legged…
Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and…
We propose a learning-from-demonstration approach for grounding actions from expert data and an algorithm for using these actions to perform a task in new environments. Our approach is based on an application of sampling-based motion…
Automating the segregation process is a need for every sector experiencing a high volume of materials handling, repetitive and exhaustive operations, in addition to risky exposures. Learning automated pick-and-place operations can be…
We study a modular approach to tackle long-horizon mobile manipulation tasks for object rearrangement, which decomposes a full task into a sequence of subtasks. To tackle the entire task, prior work chains multiple stationary manipulation…
We treat the problem of autonomous acquisition of manipulation skills where problem-solving strategies are initially available only for a narrow range of situations. We propose to extend the range of solvable situations by autonomous…
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…
We address the problem of executing tool-using manipulation skills in scenarios where the objects to be used may vary. We assume that point clouds of the tool and target object can be obtained, but no interpretation or further knowledge…
Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are…
In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…