相关论文: Non-Prehensile Manipulation in Clutter with Human-…

Living organisms interact with their surroundings in a closed-loop fashion, where sensory inputs dictate the initiation and termination of behaviours. Even simple animals are able to develop and execute complex plans, which has not yet been…

With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…

Though technical advance of artificial intelligence and machine learning has enabled many promising intelligent systems, many computing tasks are still not able to be fully accomplished by machine intelligence. Motivated by the…

This work introduces PokeRRT, a novel motion planning algorithm that demonstrates poking as an effective non-prehensile manipulation skill to enable fast manipulation of objects and increase the size of a robot's reachable workspace. Our…

This paper reviews the reasons that Human-in-the-Loop is both critical for preventing widely-understood failure modes for machine learning, and not a practical solution. Following this, we review two current heuristic methods for addressing…

Collaborative robotics cells leverage heterogeneous agents to provide agile production solutions. Effective coordination is essential to prevent inefficiencies and risks for human operators working alongside robots. This paper proposes a…

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop…

This work proposes a novel approach to include a model of making decision in human brain into the control loop. Employing the methodology developed in mathematical neuroscience, we construct a model that accounts for quality of human…

Parcel sorting operations in logistics enterprises aim to achieve a high throughput of parcels through sorting centers. These sorting centers are composed of large circular conveyor belts on which incoming parcels are placed, with multiple…

We investigate the task and motion planning problem of clearing clutter from a workspace with limited ingress/egress access for multiple robots. We call the problem multi-robot clutter removal (MRCR). Targeting practical applications where…

This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a widespread multi-task technique in robotics and animation: tasks…

We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…

This paper proposes a technique to manipulate an object with a nonholonomic mobile robot by pushing, which is a nonprehensile manipulation motion primitive. Such a primitive involves unilateral constraints associated with the friction…

Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate objects once contact is made, and how to navigate safely and…

Efficient planning plays a crucial role in model-based reinforcement learning. Traditionally, the main planning operation is a full backup based on the current estimates of the successor states. Consequently, its computation time is…

The tremendous success of behavior cloning (BC) in robotic manipulation has been largely confined to tasks where demonstrations can be effectively collected through human teleoperation. However, demonstrations for contact-rich manipulation…

Large-scale controlled evacuations require emergency services to select evacuation routes, decide departure times, and mobilize resources to issue orders, all under strict time constraints. Existing algorithms almost always allow for…

Recent years have seen an increasing number of deployment of fleets of autonomous vehicles. As the problem scales up, in terms of autonomous vehicles number and complexity of their objectives, there is a growing need for decision-support…

Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…

In this paper, a novel robotic grasping system is established to automatically pick up objects in cluttered scenes. A composite robotic hand composed of a suction cup and a gripper is designed for grasping the object stably. The suction cup…