相关论文: A preprocessing-based planning framework for utili…

The study addresses the foundational and challenging task of peg-in-hole assembly in robotics, where misalignments caused by sensor inaccuracies and mechanical errors often result in insertion failures or jamming. This research introduces…

We present a method that allows efficient and safe approximation of model predictive controllers using kernel interpolation. Since the computational complexity of the approximating function scales linearly with the number of data points, we…

High-order bases provide major advantages over linear ones in terms of efficiency, as they provide (for the same physical model) higher accuracy for the same running time, and reliability, as they are less affected by locking artifacts and…

We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfully perform this task, the robot needs to (i) detect the…

In this paper, we study the problem of procedure planning in instructional videos, which aims to make a plan (i.e. a sequence of actions) given the current visual observation and the desired goal. Previous works cast this as a sequence…

Object insertion under tight tolerances ($< \hspace{-.02in} 1mm$) is an important but challenging assembly task as even small errors can result in undesirable contacts. Recent efforts focused on Reinforcement Learning (RL), which often…

We consider the problem of open-goal planning for robotic cloth manipulation. Core of our system is a neural network trained as a forward model of cloth behaviour under manipulation, with planning performed through backpropagation. We…

The robotic assembly task poses a key challenge in building generalist robots due to the intrinsic complexity of part interactions and the sensitivity to noise perturbations in contact-rich settings. The assembly agent is typically designed…

Multi-robot systems enhance efficiency and productivity across various applications, from manufacturing to surveillance. While single-robot motion planning has improved by using databases of prior solutions, extending this approach to…

One of the main challenges in peg-in-a-hole (PiH) insertion tasks is in handling the uncertainty in the location of the target hole. In order to address it, high-dimensional sensor inputs from sensor modalities such as vision, force/torque…

We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes linear MPC to contact-rich settings by utilizing a bi-level…

Heuristic search solvers like RTDP-Bel and LAO* have proven effective for computing optimal and bounded sub-optimal solutions for Partially Observable Markov Decision Processes (POMDPs), which are typically formulated as belief MDPs. A…

We propose a method that actively estimates contact location between a grasped rigid object and its environment and uses this as input to a peg-in-hole insertion policy. An estimation model and an active tactile feedback controller work…

Understanding spatial affordances -- comprising the contact regions of object interaction and the corresponding contact poses -- is essential for robots to effectively manipulate objects and accomplish diverse tasks. However, existing…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

Complicated assembly processes can be described as a sequence of two main activities: grasping and insertion. While general grasping solutions are common in industry, insertion is still only applicable to small subsets of problems, mainly…

3D human pose estimation from 2D images is a challenging problem due to depth ambiguity and occlusion. Because of these challenges the task is underdetermined, where there exists multiple -- possibly infinite -- poses that are plausible…

Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating…

This paper proposes an adaptive admittance controller for improving efficiency and safety in physical human-robot interaction (pHRI) tasks in small-batch manufacturing that involve contact with stiff environments, such as drilling,…

Penetration Testing is a methodology for assessing network security, by generating and executing possible attacks. Doing so automatically allows for regular and systematic testing without a prohibitive amount of human labor. A key question…