相关论文: Online Estimation and Manipulation of Articulated …

One of the fundamental goals of visual perception is to allow agents to meaningfully interact with their environment. In this paper, we take a step towards that long-term goal -- we extract highly localized actionable information related to…

Reusing the tactile knowledge of some previously-explored objects helps us humans to easily recognize the tactual properties of new objects. In this master thesis, we enable arobotic arm equipped with multi-modal artificial skin, like…

Interactions with articulated objects are a challenging but important task for mobile robots. To tackle this challenge, we propose a novel closed-loop control pipeline, which integrates manipulation priors from affordance estimation with…

We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…

Robotic failure is all too common in unstructured robot tasks. Despite well-designed controllers, robots often fail due to unexpected events. How do robots measure unexpected events? Many do not. Most robots are driven by the sense-plan act…

The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…

To enable robots to use tools, the initial step is teaching robots to employ dexterous gestures for touching specific areas precisely where tasks are performed. Affordance features of objects serve as a bridge in the functional interaction…

Artificial intelligence is essential to succeed in challenging activities that involve dynamic environments, such as object manipulation tasks in indoor scenes. Most of the state-of-the-art literature explores robotic grasping methods by…

This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…

To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, such spatial awareness involves estimating the object's pose…

In logistics warehouse, since many objects are randomly stacked on shelves, it becomes difficult for a robot to safely extract one of the objects without other objects falling from the shelf. In previous works, a robot needed to extract the…

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

Accurately manipulating articulated objects is a challenging yet important task for real robot applications. In this paper, we present a novel framework called Sim2Real$^2$ to enable the robot to manipulate an unseen articulated object to…

Humans represent and discriminate the objects in the same category using their properties, and an intelligent robot should be able to do the same. In this paper, we build a robot system that can autonomously perceive the object properties…

A key challenge in robotic food manipulation is modeling the material properties of diverse and deformable food items. We propose using a multimodal sensory approach to interact and play with food that facilitates the ability to distinguish…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

Reconstructing articulated objects into high-fidelity digital twins is crucial for applications such as robotic manipulation and interactive simulation. Recent self-supervised methods using differentiable rendering frameworks like 3D…

This work introduces an analytical approach for detecting and estimating external forces acting on deformable linear objects (DLOs) using only their observed shapes. In many robot-wire interaction tasks, contact occurs not at the…

We address the challenge of creating 3D assets for household articulated objects from a single image. Prior work on articulated object creation either requires multi-view multi-state input, or only allows coarse control over the generation…