相关论文: Online Estimation and Manipulation of Articulated …

Inertial parameters characterise an object's motion under applied forces, and can provide strong priors for planning and control of robotic actions to manipulate the object. However, these parameters are not available a-priori in situations…

Manipulating an articulated object requires perceiving itskinematic hierarchy: its parts, how each can move, and howthose motions are coupled. Previous work has explored per-ception for kinematics, but none infers a complete…

General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…

This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…

Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…

Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…

To enable general-purpose robots, we will require the robot to operate daily articulated objects as humans do. Current robot manipulation has heavily relied on using a parallel gripper, which restricts the robot to a limited set of objects.…

Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…

Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity or arm accelerations, increasing the importance of mass,…

3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…

This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…

This paper presents ArticuBot, in which a single learned policy enables a robotics system to open diverse categories of unseen articulated objects in the real world. This task has long been challenging for robotics due to the large…

The world is filled with articulated objects that are difficult to determine how to use from vision alone, e.g., a door might open inwards or outwards. Humans handle these objects with strategic trial-and-error: first pushing a door then…

Perceiving and manipulating 3D articulated objects (e.g., cabinets, doors) in human environments is an important yet challenging task for future home-assistant robots. The space of 3D articulated objects is exceptionally rich in their…

Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this…

Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…

In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…

Stowing, the task of placing objects in cluttered shelves or bins, is a common task in warehouse and manufacturing operations. However, this task is still predominantly carried out by human workers as stowing is challenging to automate due…

Articulated objects are pervasive in daily life. However, due to the intrinsic high-DoF structure, the joint states of the articulated objects are hard to be estimated. To model articulated objects, two kinds of shape deformations namely…

We propose a new dataset and a novel approach to learning hand-object interaction priors for hand and articulated object pose estimation. We first collect a dataset using visual teleoperation, where the human operator can directly play…