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

Bin picking is a core problem in industrial environments and robotics, with its main module as 6D pose estimation. However, industrial depth sensors have a lack of accuracy when it comes to small objects. Therefore, we propose a framework…

Recent progress in contact-rich robotic manipulation has been striking, yet most deployed systems remain confined to simple, scripted routines. One of the key barriers is the lack of motion planning algorithms that can provide verifiable…

Real-time synthesis of legged locomotion maneuvers in challenging industrial settings is still an open problem, requiring simultaneous determination of footsteps locations several steps ahead while generating whole-body motions close to the…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

We develop a probabilistic framework for \emph{rendezvous planning}: given sparse, noisy observations of a fast-moving target, plan rendezvous spatiotemporal coordinates for a set of significantly slower seeking agents. The unknown target…

Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream tasks. Contact-based calibration methods let the user measure…

Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds collision-free paths, but this is overly restrictive in clutter,…

Current methods of multi-person pose estimation typically treat the localization and the association of body joints separately. It is convenient but inefficient, leading to additional computation and a waste of time. This paper, however,…

Delicate industrial insertion tasks (e.g., PC board assembly) remain challenging for industrial robots. The challenges include low error tolerance, delicacy of the components, and large task variations with respect to the components to be…

High-throughput $ab$ $initio$ calculations are the indispensable parts of data-driven discovery of new materials with desirable properties, as reflected in the establishment of several online material databases. The accumulation of…

We present a strategy for designing and building very general robot manipulation systems involving the integration of a general-purpose task-and-motion planner with engineered and learned perception modules that estimate properties and…

Autonomous robots can benefit greatly from human-provided semantic characterizations of uncertain task environments and states. However, the development of integrated strategies which let robots model, communicate, and act on such 'soft…

We consider the problem of vision-based pose estimation for autonomous systems. While deep neural networks have been successfully used for vision-based tasks, they inherently lack provable guarantees on the correctness of their output,…

The sense of touch, being the earliest sensory system to develop in a human body [1], plays a critical part of our daily interaction with the environment. In order to successfully complete a task, many manipulation interactions require…

Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…

High-dimensional datasets are increasingly common across scientific and industrial domains, yet they remain difficult to cluster effectively due to the diminishing usefulness of distance metrics and the tendency of clusters to collapse or…

When using a tool, the grasps used for picking it up, reposing, and holding it in a suitable pose for the desired task could be distinct. Therefore, a key challenge for autonomous in-hand tool manipulation is finding a sequence of grasps…

In this work, we present a numerical optimal control framework for reachable set computation using \emph{normotopes}, a new set representation as a norm ball with a shaping matrix. In reachable set computations, we expect to continuously…

Control of the density profile based on pellet fueling for the ITER nuclear fusion tokamak involves a multi-rate nonlinear system with safety-critical constraints, input delays, and discrete actuators with parametric uncertainty. To address…

We consider the problem of tracking an intruder using a network of wireless sensors. For tracking the intruder at each instant, the optimal number and the right configuration of sensors has to be powered. As powering the sensors consumes…