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Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…

3D task planning has attracted increasing attention in human-robot interaction and embodied AI thanks to the recent advances in multimodal learning. However, most existing studies are facing two common challenges: 1) heavy reliance on…

In this paper, we propose a new action planning approach to automatically pack long linear elastic objects into common-size boxes with a bimanual robotic system. For that, we developed a hybrid geometric model to handle large-scale…

We consider the problem of completing a set of $n$ tasks with a human-robot team using minimum effort. In many domains, teaching a robot to be fully autonomous can be counterproductive if there are finitely many tasks to be done. Rather,…

Complex and skillful motions in actual assembly process are challenging for the robot to generate with existing motion planning approaches, because some key poses during the human assembly can be too skillful for the robot to realize…

Multi-step reasoning ability of large language models is crucial in tasks such as math and tool utilization. Current researches predominantly focus on enhancing model performance in these multi-step reasoning tasks through fine-tuning with…

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…

This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…

This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…

Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…

Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…

We propose a human-operator guided planning approach to pushing-based manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning. The problem, however, remains a challenging one where the planning…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

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…

Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must…

This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…

In this paper, we provide details of a robotic system that can automate the task of picking and stowing objects from and to a rack in an e-commerce fulfillment warehouse. The system primarily comprises of four main modules: (1) Perception…

Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…