Robotic manipulation can be formulated as inducing a sequence of spatial displacements:
where the space being moved can encompass an object, part of an object, or end effector. In …

We present Neural Descriptor Fields (NDFs), an object representation that encodes both
points and relative poses between an object and a target (such as a robot gripper or a rack …

Prompt-based learning has emerged as a successful paradigm in natural language
processing, where a single general-purpose language model can be instructed to perform …

Transporter Net is a recently proposed framework for pick and place that is able to learn
good manipulation policies from a very few expert demonstrations. A key reason why …

Scene representation has been a crucial design choice in robotic manipulation systems. An
ideal representation should be 3D, dynamic, and semantic to meet the demands of diverse …

Every home is different, and every person likes things done in their particular way.
Therefore, home robots of the future need to both reason about the sequential nature of day …

Robotic pick and place tasks are symmetric under translations and rotations of both the
object to be picked and the desired place pose. For example, if the pick object is rotated or …

This work provides an introduction to the foundations of three-dimensional c-puter vision
and describes recent contributions to the? eld, which are of methodical and application …

Autonomous assembly is a crucial capability for robots in many applications. For this task,
several problems such as obstacle avoidance, motion planning, and actuator control have …

In vision-based robotic manipulation, it is usually required that the object should present a
desired shape or be viewed at a specific angle to facilitate subsequent operations such as …