Due to the inherent uncertainty in their deformability during motion, previous methods in deformable object manipulation, such as rope and cloth, often required hundreds of real-world demonstrations to train a manipulation policy for each object, …
Due to the inherent uncertainty in their deformability during motion, previous methods in rope manipulation often require hundreds of real-world demonstrations to train a manipulation policy for each rope, even for simple tasks such as rope goal …
A general-purpose service robot (GPSR), which can execute diverse tasks in various environments, requires a system with high generalizability and adaptability to tasks and environments. In this paper, we first developed a top-level GPSR system for …
Humans and many animals exhibit a robust capability to manipulate diverse objects, often directly with their bodies and sometimes indirectly with tools. Such flexibility is likely enabled by the fundamental consistency in underlying physics of object …