相关论文: Emergence of Different Modes of Tool Use in a Reac…

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving…

In this paper, we address the problem of task-oriented grasping for humanoid robots, emphasizing the need to align with human social norms and task-specific objectives. Existing methods, employ a variety of open-loop and closed-loop…

In-hand manipulation and grasping are fundamental yet often separately addressed tasks in robotics. For deriving in-hand manipulation policies, reinforcement learning has recently shown great success. However, the derived controllers are…

Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…

Grasping an object when it is in an ungraspable pose is a challenging task, such as books or other large flat objects placed horizontally on a table. Inspired by human manipulation, we address this problem by pushing the object to the edge…

The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…

Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…

Many objects, such as tools and household items, can be used only if grasped in a very specific way - grasped functionally. Often, a direct functional grasp is not possible, though. We propose a method for learning a dexterous pre-grasp…

Object handover is an important skill that we use daily when interacting with other humans. To deploy robots in collaborative setting, like houses, being able to receive and handing over objects safely and efficiently becomes a crucial…

Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…

Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…

Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

Different manipulation tasks require different types of grasps. For example, holding a heavy tool like a hammer requires a multi-fingered power grasp offering stability, while holding a pen to write requires a multi-fingered precision grasp…

Robots must know how to be gentle when they need to interact with fragile objects, or when the robot itself is prone to wear and tear. We propose an approach that enables deep reinforcement learning to train policies that are gentle, both…

The young infant explores its body, its sensorimotor system, and the immediately accessible parts of its environment, over the course of a few months creating a model of peripersonal space useful for reaching and grasping objects around it.…

Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…

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…

In this paper we address the challenge of exploration in deep reinforcement learning for robotic manipulation tasks. In sparse goal settings, an agent does not receive any positive feedback until randomly achieving the goal, which becomes…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…