18 papers
Learning to Throw Objects Safely in Multi-Obstacle Environments
Mohammadreza Kasaei, Klemen Voncina, Hamidreza Kasaei
Robotic throwing enables fast and efficient object placement beyond the robot's immediate workspace, but reliable throwing in cluttered environments remains underexplored. Existing…
Enhancing Interpretability and Interactivity in Robot Manipulation: A Neurosymbolic Approach
Georgios Tziafas, Hamidreza Kasaei
In this paper we present a neurosymbolic architecture for coupling language-guided visual reasoning with robot manipulation. A non-expert human user can prompt the robot using unco…
Parse-Augment-Distill: Learning Generalizable Bimanual Visuomotor Policies from Single Human Video
Georgios Tziafas, Jiayun Zhang, Hamidreza Kasaei
Learning visuomotor policies from expert demonstrations is an important frontier in modern robotics research, however, most popular methods require copious efforts for collecting t…
Fast Trajectory Planner with a Reinforcement Learning-based Controller for Robotic Manipulators
Yongliang Wang, Hamidreza Kasaei
Generating obstacle-free trajectories for robotic manipulators in unstructured and cluttered environments remains a significant challenge. Existing motion planning methods often re…
3D Feature Distillation with Object-Centric Priors
Georgios Tziafas, Yucheng Xu, Zhibin Li +1
Grounding natural language to the physical world is a ubiquitous topic with a wide range of applications in computer vision and robotics. Recently, 2D vision-language models such a…
LM-MCVT: A Lightweight Multi-modal Multi-view Convolutional-Vision Transformer Approach for 3D Object Recognition
Songsong Xiong, Hamidreza Kasaei
In human-centered environments such as restaurants, homes, and warehouses, robots often face challenges in accurately recognizing 3D objects. These challenges stem from the complex…