Abstract Learning from Demonstration (LfD) is an efficient technique for robots to acquire
new skills through expert observation, significantly mitigating the need for laborious manual …

A simple gripper can solve more complex manipulation tasks if it can utilize the external
environment such as pushing the object against the table or a vertical wall, known as" …

Humans demonstrate an impressive ability to acquire and generalize manipulation “tricks.”
Even from a single demonstration, such as using soup ladles to reach for distant objects, we …

Robotic systems play an important role in the development and modernization processes of
production, facilitation of labor, and human life. The robotic manipulators are outstanding …

This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D
quasistatic and quasi-dynamic rigid body motion planning in dexterous manipulation. The …

Planning robot dexterity is challenging due to the non-smoothness introduced by contacts,
intricate fine motions, and ever-changing scenarios. We present a hierarchical planning …

We present a method for global motion planning of robotic systems that interact with the
environment through contacts. Our method directly handles the hybrid nature of such tasks …

Robots need to manipulate objects in constrained environments like shelves and cabinets
when assisting humans in everyday settings like homes and offices. These constraints make …

We present a sampling-based approach to reasoning about the caging-based manipulation
of rigid and a simplified class of deformable 3D objects subject to energy constraints …

The central theme in robotic manipulation is that of the robot interacting with the world
through physical contact. We tend to describe that physical contact using specific words that …