相关论文: DBPF: A Framework for Efficient and Robust Dynamic…
Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must…
6 DoF poses estimation problem aims to estimate the rotation and translation parameters between two coordinates, such as object world coordinate and camera world coordinate. Although some advances are made with the help of deep learning,…
The 3D Bin Packing Problem (3D-BPP) is one of the most demanded yet challenging problems in industry, where an agent must pack variable size items delivered in sequence into a finite bin with the aim to maximize the space utilization. It…
Safe manipulation-oriented navigation for humanoid robots requires scene memory that remains reliable under locomotion-induced perceptual distortion, environmental changes, and interaction-level geometric safety constraints. Existing…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
Agriculture remains a cornerstone of global health and economic sustainability, yet labor-intensive tasks such as harvesting high-value crops continue to face growing workforce shortages. Robotic harvesting systems offer a promising…
Wire harnesses are essential connecting components in manufacturing industry but are challenging to be automated in industrial tasks such as bin picking. They are long, flexible and tend to get entangled when randomly placed in a bin. This…
Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…
Path planning is a fundamental component in autonomous mobile robotics, enabling a robot to navigate from its current location to a desired goal while avoiding obstacles. Among the various techniques, Artificial Potential Field (APF)…
Bifurcations mark qualitative changes of long-term behavior in dynamical systems and can often signal sudden ("hard") transitions or catastrophic events (divergences). Accurately locating them is critical not just for deeper understanding…
Bin Packing problems have been widely studied because of their broad applications in different domains. Known as a set of NP-hard problems, they have different vari- ations and many heuristics have been proposed for obtaining approximate…
This work investigates how the intricate task of a continuous pick & place (P&P) motion may be learned from humans based on demonstrations and corrections. Due to the complexity of the task, these demonstrations are often slow and even…
Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when…
The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieved by picking and placing the objects of interest directly,…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
Robotic grasping is an essential capability, playing a critical role in enabling robots to physically interact with their surroundings. Despite extensive research, challenges remain due to the diverse shapes and properties of target…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
An important logistics application of robotics involves manipulators that pick-and-place objects placed in warehouse shelves. A critical aspect of this task corre- sponds to detecting the pose of a known object in the shelf using visual…
Flow-matching-based policies have recently emerged as a promising approach for learning-based robot manipulation, offering significant acceleration in action sampling compared to diffusion-based policies. However, conventional flow-matching…
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…