相关论文: GATER: Learning Grasp-Action-Target Embeddings and…

We propose a novel framework for decision-making in cooperative grasping for two-robot object transport in constrained environments. The core of the framework is a Conditional Embedding (CE) model consisting of two neural networks that map…

In this paper, we present an approach for integrated task and motion planning based on an AND/OR graph network, which is used to represent task-level states and actions, and we leverage it to implement different classes of task and motion…

Developing robotic intelligent systems that can adapt quickly to unseen wild situations is one of the critical challenges in pursuing autonomous robotics. Although some impressive progress has been made in walking stability and skill…

We propose a learning framework to find the representation of a robot's kinematic structure and motion embedding spaces using graph neural networks (GNN). Finding a compact and low-dimensional embedding space for complex phenomena is a key…

Successful deployment of multi-agent reinforcement learning often requires agents to adapt their behaviour. In this work, we discuss the problem of teamwork adaptation in which a team of agents needs to adapt their policies to solve novel…

Recent progress in robot autonomy and safety has significantly improved human-robot interactions, enabling robots to work alongside humans on various tasks. However, complex assembly tasks still present significant challenges due to…

Task-aware robotic grasping is a challenging problem that requires the integration of semantic understanding and geometric reasoning. This paper proposes a novel framework that leverages Large Language Models (LLMs) and Quality Diversity…

In grasp detection, the robot estimates the position and orientation of potential grasp configurations directly from sensor data. This paper explores the relationship between viewpoint and grasp detection performance. Specifically, we…

Deep learning has significantly advanced computer vision and natural language processing. While there have been some successes in robotics using deep learning, it has not been widely adopted. In this paper, we present a novel robotic grasp…

Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…

This paper addresses the multi-faceted problem of robot grasping, where multiple criteria may conflict and differ in importance. We introduce a probabilistic framework, Grasp Ranking and Criteria Evaluation (GRaCE), which employs…

Interactive grasping from clutter, akin to human dexterity, is one of the longest-standing problems in robot learning. Challenges stem from the intricacies of visual perception, the demand for precise motor skills, and the complex interplay…

Despite the enormous progress and generalization in robotic grasping in recent years, existing methods have yet to scale and generalize task-oriented grasping to the same extent. This is largely due to the scale of the datasets both in…

Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…

Today, even the most compute-and-power constrained robots can measure complex, high data-rate video and LIDAR sensory streams. Often, such robots, ranging from low-power drones to space and subterranean rovers, need to transmit high-bitrate…

The ability to adapt to uncertainties, recover from failures, and coordinate between hand and fingers are essential sensorimotor skills for fully autonomous robotic grasping. In this paper, we aim to study a unified feedback control policy…

As robotic agents increasingly assist humans in reality, quadruped robots offer unique opportunities for interaction in complex scenarios due to their agile movement. However, building agents that can autonomously navigate, adapt, and…

Robotic manipulation in unstructured environments requires reliable execution under diverse conditions, yet many state-of-the-art systems still struggle with high-dimensional action spaces, sparse rewards, and slow generalization beyond…

Grasping a particular object may require a dedicated grasping movement that may also be specific to the robot end-effector. No generic and autonomous method does exist to generate these movements without making hypotheses on the robot or on…

This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…