相关论文: Transferring Grasp Configurations using Active Lea…

Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic or geometric information, while few of them consider the…

To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…

This paper is concerned with learning transferable forward models for push manipulation that can be applying to novel contexts and how to improve the quality of prediction when critical information is available. We propose to learn a…

Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…

We propose a novel pipeline for unknown object grasping in shared robotic autonomy scenarios. State-of-the-art methods for fully autonomous scenarios are typically learning-based approaches optimised for a specific end-effector, that…

In complex manipulation tasks, e.g., manipulation by pivoting, the motion of the object being manipulated has to satisfy path constraints that can change during the motion. Therefore, a single grasp may not be sufficient for the entire…

Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…

Pick-and-place is an important manipulation task in domestic or manufacturing applications. There exist many works focusing on grasp detection with high picking success rate but lacking consideration of downstream manipulation tasks (e.g.,…

We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each…

This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…

The use of machine learning to investigate grasp affordances has received extensive attention over the past several decades. The existing literature provides a robust basis to build upon, though a number of aspects may be improved. Results…

Object manipulation for rearrangement into a specific goal state is a significant task for collaborative robots. Accurately determining object placement is a key challenge, as misalignment can increase task complexity and the risk of…

In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rare to occur. Rather, multiple candidate grasps must be…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

Artificial intelligence is essential to succeed in challenging activities that involve dynamic environments, such as object manipulation tasks in indoor scenes. Most of the state-of-the-art literature explores robotic grasping methods by…

Re-grasp manipulation leverages on ergonomic tools to assist humans in accomplishing diverse tasks. In certain scenarios, humans often employ external forces to effortlessly and precisely re-grasp tools like a hammer. Previous development…

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…

This work proposes a learning method to accelerate robotic pick-and-place planning by predicting shared grasps. Shared grasps are defined as grasp poses feasible to both the initial and goal object configurations in a pick-and-place task.…

Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…

In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…