相关论文: AI Meets Physical World -- Exploring Robot Cooking

Observational learning is a promising approach to enable people without expertise in programming to transfer skills to robots in a user-friendly manner, since it mirrors how humans learn new behaviors by observing others. Many existing…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…

Traditional control and planning for robotic manipulation heavily rely on precise physical models and predefined action sequences. While effective in structured environments, such approaches often fail in real-world scenarios due to…

Learning to perform manipulation tasks from human videos is a promising approach for teaching robots. However, many manipulation tasks require changing control parameters during task execution, such as force, which visual data alone cannot…

Robotic agents often perform tasks that transform sets of input objects into output objects through functional motions. This work describes the FOON knowledge representation model for robotic tasks. We define the structure and key…

Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but communication through force signals is not well understood.…

We aim to control a robot to physically behave in the real world following any high-level language command like "cartwheel" or "kick". Although human motion datasets exist, this task remains particularly challenging since generative models…

Humans excel in complex long-horizon soft body manipulation tasks via flexible tool use: bread baking requires a knife to slice the dough and a rolling pin to flatten it. Often regarded as a hallmark of human cognition, tool use in…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

This study explores the utility of various internet data sources to select among a set of template robot behaviors to perform skills. Learning contact-rich skills involving tool use from internet data sources has typically been challenging…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

Functional grasp is essential for enabling dexterous multi-finger robot hands to manipulate objects effectively. However, most prior work either focuses on power grasping, which simply involves holding an object still, or relies on costly…

This letter describes an approach to achieve well-known Chinese cooking art stir-fry on a bimanual robot system. Stir-fry requires a sequence of highly dynamic coordinated movements, which is usually difficult to learn for a chef, let alone…

We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by…

It is highly desirable for robots that work alongside humans to be able to understand instructions in natural language. Existing language conditioned imitation learning models directly predict the actuator commands from the image…

The robotic handling of compliant and deformable food raw materials, characterized by high biological variation, complex geometrical 3D shapes, and mechanical structures and texture, is currently in huge demand in the ocean space,…

Foundation models are rapidly improving the capability of robots in performing everyday tasks autonomously such as meal preparation, yet robots will still need to be instructed by humans due to model performance, the difficulty of capturing…

An unsolved challenge in cooking automation is designing for shared kitchen workspaces. In particular, robots struggle with dexterity in the unstructured and dynamic kitchen environment. We propose that human-machine collaboration can be…

Robotic cutting is a challenging contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion requirements. We introduce a new active virtual-model control…

A major challenge for the realization of intelligent robots is to supply them with cognitive abilities in order to allow ordinary users to program them easily and intuitively. One way of such programming is teaching work tasks by…