相关论文: Precise Object Placement Using Force-Torque Feedba…

Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…

Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…

In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successful policies without prior knowledge of the dynamics of the…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

When transferring a Deep Reinforcement Learning model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

We propose a novel formulation of robotic pick and place as a deep reinforcement learning (RL) problem. Whereas most deep RL approaches to robotic manipulation frame the problem in terms of low level states and actions, we propose a more…

We present an active detection model for localizing objects in scenes. The model is class-specific and allows an agent to focus attention on candidate regions for identifying the correct location of a target object. This agent learns to…

Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…

Current Reinforcement Learning (RL) algorithms struggle with long-horizon tasks where time can be wasted exploring dead ends and task progress may be easily reversed. We develop the SPOT framework, which explores within action safety zones,…

Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…

A gaze-fixating robot perceives distance to the fixated object and relative positions of surrounding objects immediately, accurately, and robustly. We show how fixation, which is the act of looking at one object while moving, exploits…

Relative placement tasks are an important category of tasks in which one object needs to be placed in a desired pose relative to another object. Previous work has shown success in learning relative placement tasks from just a small number…

This paper presents a novel manipulation strategy that uses keypoint correspondences extracted from visuo-tactile sensor images to facilitate precise object manipulation. Our approach uses the visuo-tactile feedback to guide the robot's…

Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotics which are…

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…

Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…

Force estimation in human-object interactions is crucial for various fields like ergonomics, physical therapy, and sports science. Traditional methods depend on specialized equipment such as force plates and sensors, which makes accurate…

We focus on the task of language-conditioned object placement, in which a robot should generate placements that satisfy all the spatial relational constraints in language instructions. Previous works based on rule-based language parsing or…

Object placement in robotic tasks is inherently challenging due to the diversity of object geometries and placement configurations. To address this, we propose AnyPlace, a two-stage method trained entirely on synthetic data, capable of…