相关论文: Human-in-the-loop Robotic Grasping using BERT Scen…

This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…

We present an accurate, real-time approach to robotic grasp detection based on convolutional neural networks. Our network performs single-stage regression to graspable bounding boxes without using standard sliding window or region proposal…

Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…

Grasping an object is a matter of first moving a prehensile organ at some position in the world, and then managing the contact relationship between the prehensile organ and the object. Once the contact relationship has been established and…

To perform household tasks, assistive robots receive commands in the form of user language instructions for tool manipulation. The initial stage involves selecting the intended tool (i.e., object grounding) and grasping it in a…

Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot…

Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…

Grasping is one of the most fundamental challenging capabilities in robotic manipulation, especially in unstructured, cluttered, and semantically diverse environments. Recent researches have increasingly explored language-guided…

We consider the problem of closed-loop robotic grasping and present a novel planner which uses Visual Feedback and an uncertainty-aware Adaptive Sampling strategy (VFAS) to close the loop. At each iteration, our method VFAS-Grasp builds a…

Natural language offers an intuitive and flexible means for humans to communicate with the robots that we will increasingly work alongside in our homes and workplaces. Recent advancements have given rise to robots that are able to interpret…

Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…

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…

Effective human-robot collaboration depends on task-oriented handovers, where robots present objects in ways that support the partners intended use. However, many existing approaches neglect the humans post-handover action, relying on…

Leveraging human grasping skills to teach a robot to perform a manipulation task is appealing, but there are several limitations to this approach: time-inefficient data capture procedures, limited generalization of the data to other grasps…

Humans have a rich representation of the entities in their environment. Entities are described by their attributes, and entities that share attributes are often semantically related. For example, if two books have "Natural Language…

Grasp detection in a cluttered environment is still a great challenge for robots. Currently, the Transformer mechanism has been successfully applied to visual tasks, and its excellent ability of global context information extraction…

We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

A fundamental aspect for building intelligent autonomous robots that can assist humans in their daily lives is the construction of rich environmental representations. While advances in semantic scene representations have enriched robotic…

Robot-assisted bite acquisition involves picking up food items with varying shapes, compliance, sizes, and textures. Fully autonomous strategies may not generalize efficiently across this diversity. We propose leveraging feedback from the…