相关论文: RoboCook: Long-Horizon Elasto-Plastic Object Manip…
The ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an autonomous mobile manipulator, is proposed. To push forward the…
Planning long-horizon manipulation motions using a set of predefined skills is a central challenge in robotics; solving it efficiently could enable general-purpose robots to tackle novel tasks by flexibly composing generic skills. Solutions…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Effective execution of long-horizon tasks with dexterous robotic hands remains a significant challenge in real-world problems. While learning from human demonstrations have shown encouraging results, they require extensive data collection…
Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…
Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…
We introduce RoboNinja, a learning-based cutting system for multi-material objects (i.e., soft objects with rigid cores such as avocados or mangos). In contrast to prior works using open-loop cutting actions to cut through single-material…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
Data-driven approaches for modelling contact-rich tasks address many of the difficulties that analytical models bear. For real-world scenarios, the hardware capabilities constrain the available measurements and consequently, every step of…
When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible tasks. Robots might similarly unlock a range of additional…
Deformable object manipulation tasks have long been regarded as challenging robotic problems. However, until recently very little work has been done on the subject, with most robotic manipulation methods being developed for rigid objects.…
Humans excel at learning long-horizon tasks from demonstrations augmented with textual commentary, as evidenced by the burgeoning popularity of tutorial videos online. Intuitively, this capability can be separated into 2 distinct subtasks -…
Despite rapid progress in autonomous robotics, executing complex or long-horizon tasks remains a fundamental challenge. Most current approaches follow an open-loop paradigm with limited reasoning and no feedback, resulting in poor…
Dexterous multi-fingered hands can accomplish fine manipulation behaviors that are infeasible with simple robotic grippers. However, sophisticated multi-fingered hands are often expensive and fragile. Low-cost soft hands offer an appealing…
Soft object manipulation tasks in domestic scenes pose a significant challenge for existing robotic skill learning techniques due to their complex dynamics and variable shape characteristics. Since learning new manipulation skills from…
We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…
Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipulation of rigid objects, DOM poses significant challenges for…
The growing presence of service robots in human-centric environments, such as warehouses, demands seamless and intuitive human-robot collaboration. In this paper, we propose a collaborative shelf-picking framework that combines multimodal…
Lego is a well-known platform for prototyping pixelized objects. However, robotic Lego prototyping (i.e., manipulating Lego bricks) is challenging due to the tight connections and accuracy requirements. This paper investigates safe and…