7 accepted papers
Contact-rich manipulation remains a major challenge in robotics. Optical tactile sensors like GelSight Mini offer a low-cost solution for contact sensing by capturing softbody deformations of the silicone gel. However, accurately inferring shear and normal force distributions from these gel deformat
Machine learning methods have a groundbreaking impact in many application domains, but their application on real robotic platforms is still limited. Despite the many challenges associated with combining machine learning technology with robotics, robot learning remains one of the most promising direc…
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements, e.g., cameras, that occasionally suffer from occlusions. We…
Multi-objective optimization problems are ubiquitous in robotics, e.g., the optimization of a robot manipulation task requires a joint consideration of grasp pose configurations, collisions and joint limits. While some demands can be easily hand-designed, e.g., the smoothness of a trajectory, severa…
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
Robot assembly discovery (RAD) is a challenging problem that lives at the intersection of resource allocation and motion planning. The goal is to combine a predefined set of objects to form something new while considering task execution with the robot-in-the-loop. In this work, we tackle the problem…
Autonomous robotic assembly requires a well-orchestrated sequence of high-level actions and smooth manipulation executions. Learning to assemble complex 3D structures remains a challenging problem that requires drawing connections between target designs and building blocks, and creating valid assemb…