相关论文: Large Scale Robotic Material Handling: Learning, P…

This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…

In this survey, we systematically summarize the current literature on studies that apply reinforcement learning (RL) to the motion planning and control of autonomous vehicles. Many existing contributions can be attributed to the pipeline…

In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rare to occur. Rather, multiple candidate grasps must be…

Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop…

Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of…

We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a person in virtual reality. This is…

Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-place such objects. However, some of the predicted grasp…

We propose a human-operator guided planning approach to pushing-based manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning. The problem, however, remains a challenging one where the planning…

Robotics and automation are increasingly influential in logistics but remain largely confined to traditional warehouses. In grocery retail, advancements such as cashier-less supermarkets exist, yet customers still manually pick and pack…

Robotic manipulation of fresh fruits and vegetables, including the grasping of multiple loose items, has a strong industrial need but it still is a challenging task for robotic manipulation. This paper outlines the distinctive manipulation…

Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…

Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and often computationally very expensive to simulate. We…

Rapid and reliable robot bin picking is a critical challenge in automating warehouses, often measured in picks-per-hour (PPH). We explore increasing PPH using faster motions based on optimizing over a set of candidate grasps. The source of…

In this letter, an integrated task planning and reactive motion planning framework termed Multi-FLEX is presented that targets real-world, industrial multi-robot applications. Reactive motion planning has been attractive for the purposes of…

Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…

This work proposes a data-driven modeling and the corresponding hybrid motion control framework for unmanned and automated operation of industrial heavy-load hydraulic manipulator. Rather than the direct use of a neural network black box,…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…

We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on quadrupedal platforms, humanoid goalkeeping introduces two…

Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…