4 papers
Robustness of Robotic Manipulation: Foundations and Frontiers
Yifei Dong, Zhanyi Sun, Lujie Yang +5
Humans and animals exhibit remarkable robustness in physical manipulation, yet robots remain far behind. Progress toward human-level manipulation robustness is hindered by the abse…
Mechanical problem solving in Goffin's cockatoos -- Towards modeling complex behavior
Manuel Baum, Theresa Roessler, Antonio J. Osuna-Mascaró +2
Research continues to accumulate evidence that Goffin's cockatoos (Cacatua goffiniana) can solve wide sets of mechanical problems, such as tool use, tool manufacture, and solving m…
Augmentation for Learning From Demonstration with Environmental Constraints
Xing Li, Manuel Baum, Oliver Brock
We introduce a Learning from Demonstration (LfD) approach for contact-rich manipulation tasks with articulated mechanisms. The extracted policy from a single human demonstration ge…
"The World Is Its Own Best Model": Robust Real-World Manipulation Through Online Behavior Selection
Manuel Baum, Oliver Brock
Robotic manipulation behavior should be robust to disturbances that violate high-level task-structure. Such robustness can be achieved by constantly monitoring the environment to o…