相关论文: Online Estimation and Manipulation of Articulated …

We introduce Particulate, a feed-forward model that, given a 3D mesh of an object, infers its articulations, including its 3D parts, their kinematic structure, and the motion constraints. The model is based on a transformer network, the…

Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…

This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…

The ability of robots to grasp novel objects has industry applications in e-commerce order fulfillment and home service. Data-driven grasping policies have achieved success in learning general strategies for grasping arbitrary objects.…

Industrial robotic object handling often involves boxes and packages whose mass and center of mass are not known in advance. These uncertainties affect the force--moment balance required for stable lifting, and improper regulation of…

Looking at a person's hands one often can tell what the person is going to do next, how his/her hands are moving and where they will be, because an actor's intentions shape his/her movement kinematics during action execution. Similarly,…

Robots are increasingly expected to manipulate objects in ever more unstructured environments where the object properties have high perceptual uncertainty from any single sensory modality. This directly impacts successful object…

Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…

Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…

The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…

Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…

Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…

Automated real-time prediction of the ergonomic risks of manipulating objects is a key unsolved challenge in developing effective human-robot collaboration systems for logistics and manufacturing applications. We present a foundational…

To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…

We propose a tool-use model that can detect the features of tools, target objects, and actions from the provided effects of object manipulation. We construct a model that enables robots to manipulate objects with tools, using infant…

Humans learn about objects via interaction and using multiple perceptions, such as vision, sound, and touch. While vision can provide information about an object's appearance, non-visual sensors, such as audio and haptics, can provide…

This paper presents a principled way to think about articulated movement for artificial agents and a measurement of platforms that produce such movement. In particular, in human-facing scenarios, the shape evolution of robotic platforms…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

Sequentially interacting with articulated objects is crucial for a mobile manipulator to operate effectively in everyday environments. To enable long-horizon tasks involving articulated objects, this study explores building scene-level…