4 accepted papers
Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction “Hang a mug on the mug tree” may involve multiple valid actions if there are several mugs and branches to choose from. Existing language-conditioned policies typically re…
In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object’s high flexibility, (self-)occlusion, and interaction with obs…
When the dynamics of a system are difficult to model and/or time-consuming to evaluate, such as in deformable object manipulation tasks, motion planning algorithms struggle to find feasible plans efficiently. Such problems are often reduced to state spaces where the dynamics are straightforward to m
Deformable objects like cloth and rope are challenging to manipulate because it is difficult to predict the state of the object given a motion of the gripper(s) holding it. In much previous work, physical models (such as Mass-Spring or Finite-Element) have been used to model such affects. However, t…