6 papers
ManiDreams: An Open-Source Library for Robust Object Manipulation via Uncertainty-aware Task-specific Intuitive Physics
Gaotian Wang, Kejia Ren, Andrew S. Morgan +1
Dynamics models, whether simulators or learned world models, have long been central to robotic manipulation, but most focus on minimizing prediction error rather than confronting a…
MotionBits: Video Segmentation through Motion-Level Analysis of Rigid Bodies
Howard H. Qian, Kejia Ren, Yu Xiang +2
Rigid bodies constitute the smallest manipulable elements in the real world, and understanding how they physically interact is fundamental to embodied reasoning and robotic manipul…
B4P: Simultaneous Grasp and Motion Planning for Object Placement via Parallelized Bidirectional Forests and Path Repair
Benjamin H. Leebron, Kejia Ren, Yiting Chen +1
Robot pick and place systems have traditionally decoupled grasp, placement, and motion planning to build sequential optimization pipelines with the assumption that the individual c…
Collision-Inclusive Manipulation Planning for Occluded Object Grasping via Compliant Robot Motions
Kejia Ren, Gaotian Wang, Andrew S. Morgan +1
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that ca…
Caging in Time: A Framework for Robust Object Manipulation under Uncertainties and Limited Robot Perception
Gaotian Wang, Kejia Ren, Andrew S. Morgan +1
Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based mani…
Object-Centric Kinodynamic Planning for Nonprehensile Robot Rearrangement Manipulation
Kejia Ren, Gaotian Wang, Andrew S. Morgan +2
Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. Many traditional methods generate robot-centric actions, which differ from int…