Learn More
— We introduce a learning-based approach to manipulation in unstructured environments. This approach permits autonomous acquisition of manipulation expertise from interactions with the environment. The resulting expertise enables a robot to perform effective manipulation based on partial state information. The manipulation expertise is represented in a(More)
— We address the problem of clearing a pile of unknown objects using an autonomous interactive perception approach. Our robot hypothesizes the boundaries of objects in a pile of unknown objects (object segmentation) and verifies its hypotheses (object detection) using deliberate interactions. To guarantee the safety of the robot and the environment, we use(More)
—Autonomous manipulation in unstructured environments presents roboticists with three fundamental challenges: object segmentation, action selection, and motion generation. These challenges become more pronounced when unknown man-made or natural objects are cluttered together in a pile. We present an end-to-end approach to the problem of manipulating unknown(More)
— We present an interactive perceptual skill for segmenting, tracking, and modeling the kinematic structure of 3D articulated objects. This skill is a prerequisite for general manipulation in unstructured environments. Robot-environment interactions are used to move an unknown object, creating a perceptual signal that reveals the kinematic properties of the(More)
We propose factorization as a concept to analyze and solve manipulation problems in unstructured environments. A factorization is a decomposition of the original problem into factors (sub-problems), each of which can be solved much more easily than the original problem. The appropriate composition of these factors results in a robust and efficient solution(More)
Emotional communication skills are dominant in biological systems. Despite the apparent complexity of creating and broadcasting emotional cues, the expression is concise, making them effective and advantageous for multi-agent environments where communication bandwidth is limited and in high demand. However, social robots run the risk of being deceived and(More)
  • 1