109 citations
- Carnegie Mellon UniversityUS4 papers
- École Polytechnique Fédérale de LausanneCH2 papers
- ETH ZurichCH2 papers
- Tufts UniversityUS2 papers
- CEA Paris-SaclayFR1 paper
- Centre National de la Recherche ScientifiqueFR1 paper
- Centro Regional de Derechos Humanos y Justicia de Género, Corporación HumanasCL1 paper
- Changsha UniversityCN1 paper
- Château GombertFR1 paper
- Chemnitz University of TechnologyDE1 paper
- Colorado School of MinesUS1 paper
- Commissariat à l'Énergie Atomique et aux Énergies AlternativesFR1 paper
7 papers · 1 filter
Safe Learning for Contact-Rich Robot Tasks: A Survey from Classical Learning-Based Methods to Safe Foundation Models
Heng Zhang, Rui Dai, Gokhan Solak +4
Contact-rich tasks pose significant challenges for robotic systems due to inherent uncertainty, complex dynamics, and the high risk of damage during interaction. Recent advances in…
Incremental Language Understanding for Online Motion Planning of Robot Manipulators
Mitchell Abrams, Thies Oelerich, Christian Hartl-Nesic +2
Human-robot interaction requires robots to process language incrementally, adapting their actions in real-time based on evolving speech input. Existing approaches to language-guide…
AGILE: Approach-based Grasp Inference Learned from Element Decomposition
MohammadHossein Koosheshi, Hamed Hosseini, Mehdi Tale Masouleh +2
Humans, this species expert in grasp detection, can grasp objects by taking into account hand-object positioning information. This work proposes a method to enable a robot manipula…
CAT-RRT: Motion Planning that Admits Contact One Link at a Time
Nataliya Nechyporenko, Caleb Escobedo, Shreyas Kadekodi +1
Current motion planning approaches rely on binary collision checking to evaluate the validity of a state and thereby dictate where the robot is allowed to move. This approach leave…
Paramater Optimization for Manipulator Motion Planning using a Novel Benchmark Set
Carl Gaebert, Sascha Kaden, Benjamin Fischer +1
Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion plan…
A Shared Autonomy Reconfigurable Control Framework for Telemanipulation of Multi-arm Systems
Idil Ozdamar, Marco Laghi, Giorgio Grioli +3
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Cla…