We propose a system for rearranging objects in a scene to achieve a desired object-scene
placing relationship, such as a book inserted in an open slot of a bookshelf. The pipeline …

We present a framework for specifying tasks involving spatial relations between objects
using only 5-10 demonstrations and then executing such tasks given point cloud …

The ability to manipulate objects in desired configurations is a fundamental requirement for
robots to complete various practical applications. While certain goals can be achieved by …

Robots need the capability of placing objects in arbitrary, specific poses to rearrange the
world and achieve various valuable tasks. Object reorientation plays a crucial role in this as …

Empowering autonomous agents with 3D understanding for daily objects is a grand
challenge in robotics applications. When exploring in an unknown environment, existing …

Part assembly is a typical but challenging task in robotics, where robots assemble a set of
individual parts into a complete shape. In this paper, we develop a robotic assembly …

In the construction industry, where work environments are complex, unstructured and often
dangerous, the implementation of human–robot collaboration (HRC) is emerging as a …

We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is
supposed to pick an assigned object to place at the goal position with a specific orientation …

Object placement is a fundamental task for robots, yet it remains challenging for partially
observed objects. Existing methods for object placement have limitations, such as the …

Reorienting objects by using supports is a practical yet challenging manipulation task.
Owing to the intricate geometry of objects and the constrained feasible motions of the robot …