5 accepted papers
When using a tool, the grasps used for picking it up, reposing, and holding it in a suitable pose for the desired task could be distinct. Therefore, a key challenge for autonomous in-hand tool manipulation is finding a sequence of grasps that facilitates every step of the tool use process while cont…
Robot-assisted feeding in household environments is challenging because it requires robots to generate trajectories that effectively bring food items of varying shapes and sizes into the mouth while making sure the user is comfortable. Our key insight is that in order to solve this challenge, robots…
Dexterous manipulation is a challenging and important problem in robotics. While data-driven methods are a promising approach, current benchmarks require simulation or extensive engineering support due to the sample inefficiency of popular methods. We present benchmarks for the TriFinger system, an
Autonomous robot-assisted feeding requires the ability to acquire a wide variety of food items. However, it is impossible for such a system to be trained on all types of food in existence. Therefore, a key challenge is choosing a manipulation strategy for a previously unseen food item. Previous work…
A successful robot-assisted feeding system requires bite acquisition of a wide variety of food items. It must adapt to changing user food preferences under uncertain visual and physical environments. Different food items in different environmental conditions require different manipulation strategies…