相关论文: Prioritized Planning for Target-Oriented Manipulat…

We propose a novel approach to multi-fingered grasp planning leveraging learned deep neural network models. We train a convolutional neural network to predict grasp success as a function of both visual information of an object and grasp…

Goal recognition aims to infer an agent's goal from observations of its behaviour. In realistic settings, recognition can benefit from exploiting hierarchical task structure and reasoning under uncertainty. Planning-based goal recognition…

Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous…

Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…

Interacting with real-world cluttered scenes pose several challenges to robotic agents that need to understand complex spatial dependencies among the observed objects to determine optimal pick sequences or efficient object retrieval…

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,…

Attention control is a key cognitive ability for humans to select information relevant to the current task. This paper develops a computational model of attention and an algorithm for attention-based probabilistic planning in Markov…

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…

Most Vision-and-Language Navigation (VLN) algorithms are prone to making inaccurate decisions due to their lack of visual common sense and limited reasoning capabilities. To address this issue, we propose a Hierarchical Spatial Proximity…

Prospection is an important part of how humans come up with new task plans, but has not been explored in depth in robotics. Predicting multiple task-level is a challenging problem that involves capturing both task semantics and continuous…

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…

Long-horizon manipulation tasks such as stacking represent a longstanding challenge in the field of robotic manipulation, particularly when using reinforcement learning (RL) methods which often struggle to learn the correct sequence of…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

Despite the impressive progress achieved in robotic grasping, robots are not skilled in sophisticated tasks (e.g. search and grasp a specified target in clutter). Such tasks involve not only grasping but the comprehensive perception of the…

This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…

In this paper, we propose a navigation algorithm oriented to multi-agent environment. This algorithm is expressed as a hierarchical framework that contains a Hidden Markov Model (HMM) and a Deep Reinforcement Learning (DRL) structure. For…

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…

In this paper we present a novel method for learning hierarchical representations of Markov decision processes. Our method works by partitioning the state space into subsets, and defines subtasks for performing transitions between the…

In swarm robotics, confrontation scenarios, including strategic confrontations, require efficient decision-making that integrates discrete commands and continuous actions. Traditional task and motion planning methods separate…

Manipulation in cluttered environments is challenging due to spatial dependencies among objects, where an improper manipulation order can cause collisions or blocked access. Existing approaches often overlook these spatial relationships,…