Robotic manipulation

Robotic manipulation illustration

For robots to be truly useful in human environments, they need to be able to grap and manipulate objects and even use tools. Ideally, they should be able to handle new objects, new tools and be able to quickly learn new manipulation skills when necessary, either through human demonstration or through trial and error. Towards this goal, we design control, planning, perception and learning algorithms toward this goal. We further build complete manipulation systems capable of robustly achieving complex manipulation tasks.


Selected publications

  1. H. Zhu, A. Meduri, L. Righetti, "Efficient Object Manipulation Planning with Monte Carlo Tree Search," , no. arXiv:2206.09023, Mar, 2023.
  2. A. Meduri, H. Zhu, A. Jordana, L. Righetti, "MPC with Sensor-Based Online Cost Adaptation," in 2023 IEEE-RAS International Conference on Robotics and Automation (ICRA), May, 2023.
  3. M. Wüthrich, F. Widmaier, F. Grimminger, J. Akpo, S. Joshi, V. Agrawal, B. Hammoud, M. Khadiv, M. Bogdanovic, V. Berenz, J. Viereck, M. Naveau, L. Righetti, B. Schölkopf, S. Bauer, "TriFinger: An Open-Source Robot for Learning Dexterity," in Proceedings of the Conference on Robot Learning, 2020.
  4. H. Merzic, M. Bogdanovic, D. Kappler, L. Righetti, J. Bohg, "Leveraging Contact Forces for Learning to Grasp," in 2019 IEEE International Conference on Robotics and Automation (ICRA), pp. 3615–3621, May, 2019.
  5. L. Righetti, M. Kalakrishnan, P. Pastor, J. Binney, J. Kelly, R. C. Voorhies, G. S. Sukhatme, S. Schaal, "An autonomous manipulation system based on force control and optimization," Autonomous Robots, vol. 36, no. 1–2, pp. 11–30, Jan, 2014.
  6. M. Kalakrishnan, L. Righetti, P. Pastor, S. Schaal, "Learning Force Control Policies for Compliant Manipulation," in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4639–4644, Sep, 2011.
  7. P. Pastor, L. Righetti, M. Kalakrishnan, S. Schaal, "Online movement adaptation based on previous sensor experiences," in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 365–371, Sep, 2011.