相关论文: Tac-Man: Tactile-Informed Prior-Free Manipulation …

Adept manipulation of articulated objects is essential for robots to operate successfully in human environments. Such manipulation requires both effectiveness--reliable operation despite uncertain object structures--and efficiency--swift…

Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…

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…

Enabling robots with contact-rich manipulation remains a pivotal challenge in robot learning, which is substantially hindered by the data collection gap, including its inefficiency and limited sensor setup. While prior work has explored…

Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…

In this paper, we consider the problem of non-prehensile manipulation using grasped objects. This problem is a superset of many common manipulation skills including instances of tool-use (e.g., grasped spatula flipping a burger) and…

Articulated object manipulation is a critical capability for robots to perform various tasks in real-world scenarios. Composed of multiple parts connected by joints, articulated objects are endowed with diverse functional mechanisms through…

Robotic manipulation is essential for modernizing factories and automating industrial tasks like polishing, which require advanced tactile abilities. These robots must be easily set up, safely work with humans, learn tasks autonomously, and…

This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render…

Reusing the tactile knowledge of some previously-explored objects helps us humans to easily recognize the tactual properties of new objects. In this master thesis, we enable arobotic arm equipped with multi-modal artificial skin, like…

A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments require integrating dexterous manipulation and fluid…

Tactile information plays a crucial role for humans and robots to interact effectively with their environment, particularly for tasks requiring the understanding of contact properties. Solving such dexterous manipulation tasks often relies…

Significant progress has been made in vision-language models. However, language-conditioned robotic manipulation for contact-rich tasks remains underexplored, particularly in terms of tactile sensing. To address this gap, we introduce the…

Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…

In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered…

When humans perform a task with an articulated object, they interact with the object only in a handful of ways, while the space of all possible interactions is nearly endless. This is because humans have prior knowledge about what…

Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynamics that require both stable grasping and simultaneous free…

Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…

Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…

How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…