相关论文: RoboCook: Long-Horizon Elasto-Plastic Object Manip…
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…
Soft object manipulation poses significant challenges for robots, requiring effective techniques for state representation and manipulation policy learning. State representation involves capturing the dynamic changes in the environment,…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
We present a framework for solving long-horizon planning problems involving manipulation of rigid objects that operates directly from a point-cloud observation, i.e. without prior object models. Our method plans in the space of object…
Learning dexterous manipulation skills is a long-standing challenge in computer graphics and robotics, especially when the task involves complex and delicate interactions between the hands, tools and objects. In this paper, we focus on…
Autonomous feeding is challenging because it requires manipulation of food items with various compliance, sizes, and shapes. To understand how humans manipulate food items during feeding and to explore ways to adapt their strategies to…
Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…
To support humans in their daily lives, robots are required to autonomously learn, adapt to objects and environments, and perform the appropriate actions. We tackled on the task of cooking scrambled eggs using real ingredients, in which the…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…
Deformable object manipulation stands as one of the most captivating yet formidable challenges in robotics. While previous techniques have predominantly relied on learning latent dynamics through demonstrations, typically represented as…
Advanced robotic manipulation of deformable, volumetric objects remains one of the greatest challenges due to their pliancy, frailness, variability, and uncertainties during interaction. Motivated by these challenges, this article…
Robot-assisted feeding has the potential to improve the quality of life for individuals with mobility limitations who are unable to feed themselves independently. However, there exists a large gap between the homogeneous, curated plates…
We present a method of training character manipulation of amorphous materials such as those often used in cooking. Common examples of amorphous materials include granular materials (salt, uncooked rice), fluids (honey), and visco-plastic…
Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…
This paper describes our recent research effort to bring the computer intelligence into the physical world so that robots could perform physically interactive manipulation tasks. Our proposed approach first gives robots the ability to learn…
The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…
Humans commonly work with multiple objects in daily life and can intuitively transfer manipulation skills to novel objects by understanding object functional regularities. However, existing technical approaches for analyzing and…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
Paper is a cheap, recyclable, and clean material that is often used to make practical tools. Traditional tool design either relies on simulation or physical analysis, which is often inaccurate and time-consuming. In this paper, we propose…