Robotic gras** of house-hold objects has made remarkable progress in recent years. Yet,
human grasps are still difficult to synthesize realistically. There are several key reasons:(1) …

Gras** and manipulating objects is an important human skill. Since hand-object contact is
fundamental to gras**, capturing it can lead to important insights. However, observing …

Manipulation in cluttered environments like homes requires stable grasps, precise
placement and robustness against external contact. Towards addressing these challenges …

Gras** and manipulating objects is an important human skill. Since most objects are
designed to be manipulated by human hands, anthropomorphic hands can enable richer …

Depth sensing plays a crucial role in various applications, including robotics, augmented
reality, and autonomous driving. Monocular passive depth sensing techniques have come …

Robotic manipulation in complex open-world scenarios requires both reliable physical
manipulation skills and effective and generalizable perception. In this paper, we propose …

We address the challenging problem of robotic gras** and manipulation in the presence
of uncertainty. This uncertainty is due to noisy sensing, inaccurate models, and hard-to …

Robots rely heavily on sensors, especially RGB and depth cameras, to perceive and interact
with the world. RGB cameras record 2D images with rich semantic information while missing …

Exoskeleton robots can assist humans to perform activities of daily living with little effort. In
this paper, a hierarchical control scheme is presented which enables an exoskeleton robot …

Purpose Autonomous robots must be able to understand long-term manipulation tasks
described by humans and perform task analysis and planning based on the current …