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

The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…

General-purpose object placement is a fundamental capability of an intelligent generalist robot: being capable of rearranging objects following precise human instructions even in novel environments. This work is dedicated to achieving…

We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…

Generic re-usable pre-trained image representation encoders have become a standard component of methods for many computer vision tasks. As visual representations for robots however, their utility has been limited, leading to a recent wave…

Inspired by the recent advance of image-based object reconstruction using deep learning, we present an active reconstruction model using a guided view planner. We aim to reconstruct a 3D model using images observed from a planned sequence…

This paper proposes a new method for manipulating unknown objects through a sequence of non-prehensile actions that displace an object from its initial configuration to a given goal configuration on a flat surface. The proposed method…

A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments require integrating dexterous manipulation and fluid…

This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…

Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

Shape formation is one of the most thoroughly studied problems in programmable matter and swarm robotics. However, in many models, the class of shapes that can be formed is highly restricted due to the particles' limited memory. In the…

We propose an action-conditioned dynamics model that predicts scene changes caused by object and agent interactions in a viewpoint-invariant 3D neural scene representation space, inferred from RGB-D videos. In this 3D feature space, objects…

As robots begin to cohabit with humans in semi-structured environments, the need arises to understand instructions involving rich variability---for instance, learning to ground symbols in the physical world. Realistically, this task must…

Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…

Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…

Deep Reinforcement Learning has proved to be able to solve many control tasks in different fields, but the behavior of these systems is not always as expected when deployed in real-world scenarios. This is mainly due to the lack of domain…

Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…

Relational object rearrangement (ROR) tasks (e.g., insert flower to vase) require a robot to manipulate objects with precise semantic and geometric reasoning. Existing approaches either rely on pre-collected demonstrations that struggle to…

Human-level autonomous driving is an ever-elusive goal, with planning and decision making -- the cognitive functions that determine driving behavior -- posing the greatest challenge. Despite a proliferation of promising approaches, progress…

We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…