相关论文: RoboCook: Long-Horizon Elasto-Plastic Object Manip…

Foundation models hold significant potential for enabling robots to perform long-horizon general manipulation tasks. However, the simplicity of tasks and the uniformity of environments in existing benchmarks restrict their effective…

This work introduces our approach to the flat and textureless object grasping problem. In particular, we address the tableware and cutlery manipulation problem where a service robot has to clean up a table. Our solution integrates colour…

A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…

One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various shapes, sizes, thicknesses, textures, and weights. All the…

The ability to use random objects as tools in a generalizable manner is a missing piece in robots' intelligence today to boost their versatility and problem-solving capabilities. State-of-the-art robotic tool usage methods focused on…

One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…

Assistive robot arms have the potential to help disabled or elderly adults eat everyday meals without relying on a caregiver. To provide meaningful assistance, these robots must reach for food items, pick them up, and then carry them to the…

Robotics is used to foster creativity. Humans can perform jobs in their unique manner, depending on the circumstances. This situation applies to food cooking. Robotic technology in the kitchen can speed up the process and reduce its…

Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…

Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…

This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate…

The seafood processing industry provides fertile ground for robotics to impact the future-of-work from multiple perspectives including productivity, worker safety, and quality of work life. The robotics research challenge is the realization…

Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In this work, we explored an extreme case of searching for and…

Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only…

Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…

Functional grasp is essential for enabling dexterous multi-finger robot hands to manipulate objects effectively. However, most prior work either focuses on power grasping, which simply involves holding an object still, or relies on costly…

Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…

The human hand has an inherent ability to manipulate and re-orientate objects without external assistance. As a consequence, we are able to operate tools and perform an array of actions using just one hand, without having to continuously…

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,…

In the field of robotic manipulation, deep imitation learning is recognized as a promising approach for acquiring manipulation skills. Additionally, learning from diverse robot datasets is considered a viable method to achieve versatility…