相关论文: Object Reconfiguration with Simulation-Derived Fea…

This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…

Several planners have been developed to compute dynamically feasible, collision-free robot paths from an initial to a goal configuration. A key assumption in these works is that the goal region is reachable; an assumption that often fails…

Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…

The concept of programmable matter envisions a very large number of tiny and simple robot particles forming a smart material. Even though the particles are restricted to local communication, local movement, and simple computation, their…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…

Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…

Images are a convenient way to specify which particular object instance an embodied agent should navigate to. Solving this task requires semantic visual reasoning and exploration of unknown environments. We present a system that can perform…

The definition of symbolic descriptions that consistently represent relevant geometrical aspects in manipulation tasks is a challenging problem that has received little attention in the robotic community. This definition is usually done…

Image editing approaches have become more powerful and flexible with the advent of powerful text-conditioned generative models. However, placing objects in an environment with a precise location and orientation still remains a challenge, as…

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…

Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…

Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…

We introduce a visually-guided and physics-driven task-and-motion planning benchmark, which we call the ThreeDWorld Transport Challenge. In this challenge, an embodied agent equipped with two 9-DOF articulated arms is spawned randomly in a…

Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…

In this paper, we investigate the possibility of applying plan transformations to general manipulation plans in order to specialize them to the specific situation at hand. We present a framework for optimizing execution and achieving higher…

Constructing and animating humans is an important component for building virtual worlds in a wide variety of applications such as virtual reality or robotics testing in simulation. As there are exponentially many variations of humans with…

In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…

Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…