相关论文: Learning Goal-Directed Object Pushing in Cluttered…
Model-free continuous control for robot navigation tasks using Deep Reinforcement Learning (DRL) that relies on noisy policies for exploration is sensitive to the density of rewards. In practice, robots are usually deployed in cluttered…
Understanding the world in terms of objects and the possible interplays with them is an important cognition ability, especially in robotics manipulation, where many tasks require robot-object interactions. However, learning such a…
This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…
Contact-rich manipulation often requires strategic interactions with objects, such as pushing to accomplish specific tasks. We propose a novel scenario where a robot inserts a book into a crowded shelf by pushing aside neighboring books to…
Pushing is an essential non-prehensile manipulation skill used for tasks ranging from pre-grasp manipulation to scene rearrangement, reasoning about object relations in the scene, and thus pushing actions have been widely studied in…
Robot learning provides a number of ways to teach robots simple skills, such as grasping. However, these skills are usually trained in open, clutter-free environments, and therefore would likely cause undesirable collisions in more complex,…
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…
Specifying tasks with videos is a powerful technique towards acquiring novel and general robot skills. However, reasoning over mechanics and dexterous interactions can make it challenging to scale learning contact-rich manipulation. In this…
Programming a robot to deal with open-ended tasks remains a challenge, in particular if the robot has to manipulate objects. Launching, grasping, pushing or any other object interaction can be simulated but the corresponding models are not…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
Recent Vision-Language-Action (VLA) models have made impressive progress toward general-purpose robotic manipulation by post-training large Vision-Language Models (VLMs) for action prediction. Yet most VLAs entangle perception and control…
Autonomous learning of object manipulation skills can enable robots to acquire rich behavioral repertoires that scale to the variety of objects found in the real world. However, current motion skill learning methods typically restrict the…
Nonprehensile manipulation is crucial for handling objects that are too thin, large, or otherwise ungraspable in unstructured environments. While conventional planning-based approaches struggle with complex contact modeling, learning-based…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
We present a system for non-prehensile manipulation that require a significant number of contact mode transitions and the use of environmental contacts to successfully manipulate an object to a target location. Our method is based on deep…
Robots operating in open, unstructured real-world environments must rely on onboard visual perception while autonomously moving across different locations. Continuous changes in onboard camera viewpoints cause significant visual scale…
Dynamic manipulation, such as robot tossing or throwing objects, has recently gained attention as a novel paradigm to speed up logistic operations. However, the focus has predominantly been on the object's landing location, irrespective of…
As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…
At present, in most warehouse environments, the accumulation of goods is complex, and the management personnel in the control of goods at the same time with the warehouse mobile robot trajectory interaction, the traditional mobile robot can…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…