6 accepted papers
Non-prehensile (NP) manipulation, in which robots alter object states without forming stable grasps (for example, pushing, poking, or sliding), significantly broadens robotic manipulation capabilities when grasping is infeasible or insufficient. However, enabling a unified framework that generalizes…
Assembly hinges on reliably forming connections between parts; yet most robotic approaches plan assembly sequences and part poses while treating connectors as an afterthought. Connections represent the foundational physical constraints of assembly execution; while task planning sequences operations,…
Contact feedback is essential for contact-rich robotic manipulation, as it allows the robot to detect subtle interaction changes and adjust its actions accordingly. Six- axis force-torque sensors are commonly used to obtain contact feedback, but their high cost and fragility have discouraged many re…
This report describes the system submitted to the music source restoration (MSR) Challenge 2025. Our approach is composed of sequential BS-RoFormers, each dealing with a single task including music source separation (MSS), denoise and dereverb. To support 8 instruments given in the task, we utilize…
Multi-step cloth manipulation is a challenging problem for robots due to the high-dimensional state spaces and the dynamics of cloth. Despite recent significant advances in end-to-end imitation learning for multi-step cloth manipulation skills, these methods fail to generalize to unseen tasks. Our i
Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they lack the ability to interpret abstract instructions and translate them into executa…