相关论文: GAMMA: Graspability-Aware Mobile MAnipulation Poli…

Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

With humankind facing new and increasingly large-scale challenges in the medical and domestic spheres, automation of the service sector carries a tremendous potential for improved efficiency, quality, and safety of operations. Mobile…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…

In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…

With an increasing demand for robots, robotic grasping will has a more important role in future applications. This paper takes grasp stability prediction as the key technology for grasping and tries to solve the problem with time series…

Generalizable manipulation involving cross-type object interactions is a critical yet challenging capability in robotics. To reliably accomplish such tasks, robots must address two fundamental challenges: "where to manipulate" (contact…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

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…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

Accurate estimation of the relative pose between an object and a robot hand is critical for many manipulation tasks. However, most of the existing object-in-hand pose datasets use two-finger grippers and also assume that the object remains…

Although end-to-end robot learning has shown some success for robot manipulation, the learned policies are often not sufficiently robust to variations in object pose or geometry. To improve the policy generalization, we introduce…

Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…