3D scene synthesis facilitates and benefits many real-world applications. Most scene
generators focus on making indoor scenes plausible via learning from training data and …

Prehensile object rearrangement in cluttered and confined spaces has broad applications
but is also challenging. For instance, rearranging products in a grocery shelf means that the …

Object rearrangement is a widely-applicable and challenging task for robots. Geometric
constraints must be carefully examined to avoid collisions and combinatorial issues arise as …

We propose a novel approach for automatically generating a move plan for scene
arrangement. 1 Given a scene like an apartment with many furniture objects, to transform its …

A successful robot-assisted feeding system requires bite acquisition of a wide variety of food
items. It must adapt to changing user food preferences under uncertain visual and physical …

Many tasks involve the fine manipulation of objects despite limited visual feedback. In such
scenarios, tactile and proprioceptive feedback can be leveraged for task completion. We …

Kinodynamic motion planners allow robots to perform complex manipulation tasks under
dynamics constraints or with black-box models. However, they struggle to find high-quality …

Programming robotic assembly for industrial small-batch production is challenging; hence, it
is vital to increase robustness and reduce development effort in order to achieve flexible …

We present a novel approach to deformable object manipulation that does not rely on highly
accurate modeling. The key contribution of this paper is to formulate the task as a …

We propose a number of “divergence metrics” to quantify the robustness of a trajectory to
state uncertainty for under-actuated or under-sensed systems. These metrics are inspired by …