Task-relevant gras** is critical for industrial assembly, where downstream manipulation
tasks constrain the set of valid grasps. Learning how to perform this task, however, is …

Humans working with autonomous artificially intelligent systems may not be experts in the
inner workings of their machine teammates, but need to understand when to employ, trust …

In this paper, we study the problem of task-oriented grasp synthesis from partial point cloud
data using an eye-in-hand camera configuration. In task-oriented grasp synthesis, a grasp …

Understanding human-object interaction is a fundamental challenge in computer vision and
robotics. Crucial to it is the ability to infer “object affordances” from visual data, namely the …

For robots to become effective apprentices and collaborators, they must exhibit some level of
autonomy, for example, recognizing failures and identifying ways to address them with the …

As autonomous robots are deployed in increasingly complex environments, platform
degradation, environmental uncertainties, and deviations from validated operation …