相关论文: Online Object and Task Learning via Human Robot In…

We investigate an experiential learning paradigm for acquiring an internal model of intuitive physics. Our model is evaluated on a real-world robotic manipulation task that requires displacing objects to target locations by poking. The…

Identifying the dynamic properties of manipulated objects is essential for safe and accurate robot control. Most methods rely on low noise force torque sensors, long exciting signals, and solving nonlinear optimization problems, making the…

Nowadays, service robots are appearing more and more in our daily life. For this type of robot, open-ended object category learning and recognition is necessary since no matter how extensive the training data used for batch learning, the…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

Moving large objects, such as furniture or appliances, is a critical capability for robots operating in human environments. This task presents unique challenges, including whole-body coordination to avoid collisions and managing the…

Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

We aim to teach robots to perform simple object manipulation tasks by watching a single video demonstration. Towards this goal, we propose an optimization approach that outputs a coarse and temporally evolving 3D scene to mimic the action…

We present a deep learning method for the interactive video object segmentation. Our method is built upon two core operations, interaction and propagation, and each operation is conducted by Convolutional Neural Networks. The two networks…

Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…

Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation learning solves this problem by using a…

The motivation of this paper is to develop a smart system using multi-modal vision for next-generation mechanical assembly. It includes two phases where in the first phase human beings teach the assembly structure to a robot and in the…

This paper addresses the problem of mobile robot manipulation using object detection. Our approach uses detection and control as complimentary functions that learn from real-world interactions. We develop an end-to-end manipulation method…

Reasoning about objects, relations, and physics is central to human intelligence, and a key goal of artificial intelligence. Here we introduce the interaction network, a model which can reason about how objects in complex systems interact,…

Despite the impressive progress brought by deep network in visual object recognition, robot vision is still far from being a solved problem. The most successful convolutional architectures are developed starting from ImageNet, a large scale…

This work proposes a biologically inspired approach that focuses on attention systems that are able to inhibit or constrain what is relevant at any one moment. We propose a radically new approach to making progress in human-robot joint…

With the rapid growth of computing powers and recent advances in deep learning, we have witnessed impressive demonstrations of novel robot capabilities in research settings. Nonetheless, these learning systems exhibit brittle generalization…

This article surveys the literature on human-robot object handovers. A handover is a collaborative joint action where an agent, the giver, gives an object to another agent, the receiver. The physical exchange starts when the receiver first…

To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…

Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…