12 papers
GIFT: Geometry-Induced Functional Transfer for Category-level Object Manipulation
Cristiana de Farias, Luis Figueredo, Riddhiman Laha +5
Robotic manipulation of unfamiliar objects in new environments is challenging due to limited generalisation capabilities. We propose a new skill transfer framework, GIFT (Geometry-…
Hybrid Task and Motion Planning with Reactive Collision Handling for Multi-Robot Disassembly of Complex Products: Application to EV Batteries
Abdelaziz Shaarawy, Cansu Erdogan, Rustam Stolkin +1
This paper addresses the problem of multi-robot coordination for complex manipulation task sequences. We present a vision-driven task-and-motion planning (TAMP) framework for a rea…
End-to-end example-based sim-to-real RL policy transfer based on neural stylisation with application to robotic cutting
Jamie Hathaway, Alireza Rastegarpanah, Rustam Stolkin
Whereas reinforcement learning has been applied with success to a range of robotic control problems in complex, uncertain environments, reliance on extensive data - typically sourc…
First Responders' Perceptions of Semantic Information for Situational Awareness in Robot-Assisted Emergency Response
Tianshu Ruan, Zoe Betta, Georgios Tzoumas +2
This study investigates First Responders' (FRs) attitudes toward the use of semantic information and Situational Awareness (SA) in robotic systems during emergency operations. A st…
Intent-Driven LLM Ensemble Planning for Flexible Multi-Robot Disassembly: Demonstration on EV Batteries
Cansu Erdogan, Cesar Alan Contreras, Alireza Rastegarpanah +2
This paper addresses the problem of planning complex manipulation tasks, in which multiple robots with different end-effectors and capabilities, informed by computer vision, must p…
An Exploratory Study on Human-Robot Interaction using Semantics-based Situational Awareness
Tianshu Ruan, Aniketh Ramesh, Rustam Stolkin +1
In this paper, we investigate the impact of high-level semantics (evaluation of the environment) on Human-Robot Teams (HRT) and Human-Robot Interaction (HRI) in the context of mobi…