相关论文: Cooperative Grasping for Collective Object Transpo…

We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…

We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…

Motion retargeting for specific robot from existing motion datasets is one critical step in transferring motion patterns from human behaviors to and across various robots. However, inconsistencies in topological structure, geometrical…

This paper studies how to achieve accurate modeling and effective control in stochastic nonlinear dynamics with multiple interacting objects. However, non-uniform interactions and random topologies make this task challenging. We address…

This paper presents INVIGORATE, a robot system that interacts with human through natural language and grasps a specified object in clutter. The objects may occlude, obstruct, or even stack on top of one another. INVIGORATE embodies several…

Many studies in vision tasks have aimed to create effective embedding spaces for single-label object prediction within an image. However, in reality, most objects possess multiple specific attributes, such as shape, color, and length, with…

Human affordance learning investigates contextually relevant novel pose prediction such that the estimated pose represents a valid human action within the scene. While the task is fundamental to machine perception and automated interactive…

Reliable aerial grasping in cluttered environments remains challenging due to occlusions and collision risks. Existing aerial manipulation pipelines largely rely on centroid-based grasping and lack integration between the grasp pose…

Graphical models have been widely applied in solving distributed inference problems in sensor networks. In this paper, the problem of coordinating a network of sensors to train a unique ensemble estimator under communication constraints is…

Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…

Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…

Relations amongst entities play a central role in image understanding. Due to the complexity of modeling (subject, predicate, object) relation triplets, it is crucial to develop a method that can not only recognize seen relations, but also…

Adversarial object rearrangement in the real world (e.g., previously unseen or oversized items in kitchens and stores) could benefit from understanding task scenes, which inherently entail heterogeneous components such as current objects,…

In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and autonomous vehicles on public roads, trust is a very important…

Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…

Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…

Grasping in dense clutter is a fundamental skill for autonomous robots. However, the crowdedness and occlusions in the cluttered scenario cause significant difficulties to generate valid grasp poses without collisions, which results in low…

The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…

Reliable perception is essential for robots that interact with the world. But sensors alone are often insufficient to provide this capability, and they are prone to errors due to various conditions in the environment. Furthermore, there is…

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…