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Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Utilizing a robot in a new application requires the robot to be programmed at each time. To reduce such programmings efforts, we have been developing ``Learning-from-observation (LfO)'' that automatically generates robot programs by…

Manipulating deformable objects, such as fabric, is a long standing problem in robotics, with state estimation and control posing a significant challenge for traditional methods. In this paper, we show that it is possible to learn fabric…

While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…

We consider the problem of sorting a densely cluttered pile of unknown objects using a robot. This yet unsolved problem is relevant in the robotic waste sorting business. By extending previous active learning approaches to grasping, we show…

Mathematical optimization is widely used in various research fields. With a carefully-designed objective function, mathematical optimization can be quite helpful in solving many problems. However, objective functions are usually…

Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…

In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…

Visual search of relevant targets in the environment is a crucial robot skill. We propose a preliminary framework for the execution monitor of a robot task, taking care of the robot attitude to visually searching the environment for targets…

In deployment scenarios such as homes and warehouses, mobile robots are expected to autonomously navigate for extended periods, seamlessly executing tasks articulated in terms that are intuitively understandable by human operators. We…

Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…

As robots play an increasingly important role in the industrial, the expectations about their applications for everyday living tasks are getting higher. Robots need to perform long-horizon tasks that consist of several sub-tasks that need…

To enable robots to use tools, the initial step is teaching robots to employ dexterous gestures for touching specific areas precisely where tasks are performed. Affordance features of objects serve as a bridge in the functional interaction…

This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where…

This paper addresses the Object Goal Navigation problem, where a robot must efficiently find a target object in an unknown environment. Existing implicit memory-based methods struggle with long-term memory retention and planning, while…

This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…

This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…

Multi-modal image fusion aggregates information from multiple sensor sources, achieving superior visual quality and perceptual features compared to single-source images, often improving downstream tasks. However, current fusion methods for…

We propose a tool-use model that can detect the features of tools, target objects, and actions from the provided effects of object manipulation. We construct a model that enables robots to manipulate objects with tools, using infant…

Human-robot interaction can be divided into two categories based on the physical distance between the human and robot: remote and proximal. In proximal interaction, the human and robot often engage in close coordination; in remote…