相关论文: Autonomous Planning Based on Spatial Concepts to T…

When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…

For a robot to personalize physical assistance effectively, it must learn user preferences that can be generally reapplied to future scenarios. In this work, we investigate personalization of household cleanup with robots that can tidy up…

Robotic pick and place stands at the heart of autonomous manipulation. When conducted in cluttered or complex environments robots must jointly reason about the selected grasp and desired placement locations to ensure success. While several…

As service robots become more and more capable of performing useful tasks for us, there is a growing need to teach robots how we expect them to carry out these tasks. However, different users typically have their own preferences, for…

We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…

Robotic grasping in cluttered environments is often infeasible due to obstacles preventing possible grasps. Then, pre-grasping manipulation like shifting or pushing an object becomes necessary. We developed an algorithm that can learn, in…

Tidying up a household environment using a mobile manipulator poses various challenges in robotics, such as adaptation to large real-world environmental variations, and safe and robust deployment in the presence of humans.The Partner Robot…

Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…

For robots to truly collaborate and assist humans, they must understand not only logic and instructions, but also the subtle emotions, aesthetics, and feelings that define our humanity. Human art and aesthetics are among the most elusive…

We consider the problem of sorting a densely cluttered pile of unknown objects using a robot. This yet unsolved problem is relevant in the robotic waste sorting business. By extending previous active learning approaches to grasping, we show…

Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…

We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…

Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both…

The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to…

Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…

We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific, contact-constrained locations. With PvP, we approach the…

We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the…

This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…