相关论文: Image-driven Robot Drawing with Rapid Lognormal Mo…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
Line art is arguably one of the fundamental and versatile modes of expression. We propose a pipeline for a robot to look at a grayscale line art and redraw it. The key novel elements of our pipeline are: a) we propose a novel task of…
This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…
Programming a robotic is a complex task, as it demands the user to have a good command of specific programming languages and awareness of the robot's physical constraints. We propose a framework that simplifies robot deployment by allowing…
Robot design is a nontrivial process that involves careful consideration of multiple criteria, including user specifications, kinematic structures, and visual appearance. Therefore, the design process often relies heavily on domain…
Legibility of robot motion is critical in human-robot interaction, as it allows humans to quickly infer a robot's intended goal. Although traditional trajectory generation methods typically prioritize efficiency, they often fail to make the…
Dramatic advances in generative models have resulted in near photographic quality for artificially rendered faces, animals and other objects in the natural world. In spite of such advances, a higher level understanding of vision and imagery…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…
Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when humans need to express their intent towards robots, since most…
Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion-design co-optimization offers a promising path toward automation, but two major challenges remain: (i) the…
This work introduces Robots Imitating Generated Videos (RIGVid), a system that enables robots to perform complex manipulation tasks--such as pouring, wiping, and mixing--purely by imitating AI-generated videos, without requiring any…
Synthesizing visual content that meets users' needs often requires flexible and precise controllability of the pose, shape, expression, and layout of the generated objects. Existing approaches gain controllability of generative adversarial…
Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to the intractable amount of human time, effort, and cost…
Hand-drawn character animation is a vibrant field in computer graphics, presenting challenges in achieving geometric consistency while conveying expressive motion. Traditional skeletal animation methods maintain geometric consistency but…
Dynamic hand gestures play a pivotal role in assistive human-robot interaction (HRI), facilitating intuitive, non-verbal communication, particularly for individuals with mobility constraints or those operating robots remotely. Current…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…
Designing physical artifacts that serve a purpose - such as tools and other functional structures - is central to engineering as well as everyday human behavior. Though automating design has tremendous promise, general-purpose methods do…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…