Robotic-assisted surgery is now well established in clinical practice and has become the
gold-standard clinical treatment option for several clinical indications. The field of robotic …

We present a framework for robot skill acquisition, which 1) efficiently scale up data
generation of language-labelled robot data and 2) effectively distills this data down into a …

Manipulating deformable objects has long been a challenge in robotics due to its high
dimensional state representation and complex dynamics. Recent success in deep …

Rearranging and manipulating deformable objects such as cables, fabrics, and bags is a
long-standing challenge in robotic manipulation. The complex dynamics and high …

High-velocity dynamic actions (eg, fling or throw) play a crucial role in our everyday
interaction with deformable objects by improving our efficiency and effectively expanding our …

In this paper we tackle the problem of deformable object manipulation through model-free
visual reinforcement learning (RL). In order to circumvent the sample inefficiency of RL, we …

Robotic manipulation of cloth remains challenging due to the complex dynamics of cloth,
lack of a low-dimensional state representation, and self-occlusions. In contrast to previous …

We address the problem of goal-directed cloth manipulation, a challenging task due to the
deformability of cloth. Our insight is that optical flow, a technique normally used for motion …

Folding garments reliably and efficiently is a long standing challenge in robotic manipulation
due to the complex dynamics and high dimensional configuration space of garments. An …

Robotic fabric manipulation has applications in home robotics, textiles, senior care and
surgery. Existing fabric manipulation techniques, however, are designed for specific tasks …