YuMi redundancy-parameterization paper validates arm-angle kinematics - 2025-05-29 - Research Publication - The paper defines and validates the Shoulder-Elbow-Wrist angle used by the 7-DOF ABB YuMi arm. It supplies the SEW-angle Jacobian, singularity conditions, and IK-Geo examples for finding all inverse-kinematics solutions.… - source: arxiv.org
A Unified Framework for Real-Time Failure Handling in Robotics Using Vision-Language Models, Reactive Planner and Behavior Trees - 2025-03-19 - Research Publication - The paper presents a unified failure recovery framework that combines Vision-Language Models (VLMs), a reactive planner, and Behavior Trees (BTs) to enable real-time failure handling. The authors evaluate the framework… - source: arxiv.org
Towards Autonomous Reinforcement Learning for Real-World Robotic Manipulation with Large Language Models - 2025-03-06 - Research Publication - The authors propose Autonomous Reinforcement learning for Complex Human-Informed Environments (ARCHIE), an unsupervised pipeline leveraging GPT-4, a pre-trained LLM, to generate reward functions directly from natural… - source: arxiv.org
Singularities of ABB’s YuMi 7-DOF robot arm - 2025-03-01 - Research Publication - The Mechanism and Machine Theory paper studies singularities of ABB’s YuMi 7-DOF robot arm. The study’s named evaluation platform is YuMi (IRB 14000 Dual-arm) from ABB. - source: doi.org
DFL-TORO: A One-Shot Demonstration Framework for Learning Time-Optimal Robotic Manufacturing Tasks - 2023-09-18 - Research Publication - The paper presents DFL-TORO, a novel Demonstration Framework for Learning Time-Optimal Robotic tasks via One-shot kinesthetic demonstration. The result is a significant reduction in noise, thereby boosting the robot's… - source: arxiv.org
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision - 2022-06-29 - Research Publication - The authors propose Return on Human Effort (ROHE) as a new metric and Fleet-DAgger, a family of IFL algorithms. The authors compare a novel Fleet-DAgger algorithm to 4 baselines with 100 robots in simulation. - source: arxiv.org
Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects - 2021-10-27 - Research Publication - The authors propose using neural radiance fields (NeRF) to detect, localize, and infer the geometry of transparent objects with sufficient accuracy to find and grasp them securely. In each setting the authors show that… - source: arxiv.org
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning - 2021-03-31 - Research Publication - Corrective interventions while a robot is learning to automate a task provide an intuitive method for a human supervisor to assist the robot and convey information about desired behavior. In physical fabric manipulation… - source: arxiv.org
Dynamic Movement Primitive based Motion Retargeting for Dual-Arm Sign Language Motions - 2020-11-08 - Research Publication - The authors propose a novel motion retargeting method that leverages graph optimization and Dynamic Movement Primitives (DMPs) for this problem. Experimental results of several Chinese Sign Language (CSL) motions have been… - source: arxiv.org
X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions - 2020-04-20 - Research Publication - For applications in e-commerce, warehouses, healthcare, and home service, robots are often required to search through heaps of objects to grasp a specific target object. The work is explicitly tied to YuMi (IRB 14000… - source: arxiv.org
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics - 2020-03-28 - Research Publication - Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. YuMi (IRB 14000 Dual-arm) is the evaluation platform used to test the method… - source: arxiv.org
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data - 2020-03-03 - Research Publication - Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. YuMi (IRB 14000 Dual-arm) is the hardware… - source: arxiv.org
Tactile Dexterity: Manipulation Primitives with Tactile Feedback - 2020-02-08 - Research Publication - This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions… - source: arxiv.org
Bayesian Optimization in Variational Latent Spaces with Dynamic Compression - 2019-07-10 - Research Publication - Data-efficiency is crucial for autonomous robots to adapt to new tasks and environments. In this work we focus on robotics problems with a budget of only 10-20 trials. The work is explicitly tied to YuMi (IRB 14000… - source: arxiv.org
Dexterous Manipulation Graph paper demonstrates dual-arm regrasping on ABB YuMi - 2019-04-25 - Research Publication - The paper introduces Dexterous Manipulation Graphs for planning in-hand manipulation and regrasping with parallel grippers. The authors execute coordinated pushing and regrasping sequences on an ABB YuMi dual-arm robot. It… - source: arxiv.org
Neural Network Model for Identifying Workspace, Forward and Inverse Kinematics of the 7-DOF YuMi 14000 ABB Collaborative Robot - 2019-01-01 - Research Publication - The IFAC paper models workspace and kinematics for the ABB YuMi 14000 collaborative robot. The study’s named evaluation platform is YuMi (IRB 14000 Dual-arm) from ABB. - source: doi.org
Global Search with Bernoulli Alternation Kernel for Task-oriented Grasping Informed by Simulation - 2018-10-10 - Research Publication - We develop an approach that benefits from large simulated datasets and takes full advantage of the limited online data that is most relevant. The work is explicitly tied to YuMi (IRB 14000 Dual-arm), making the product… - source: arxiv.org
Dex-Net 3.0: Computing Robust Robot Vacuum Suction Grasp Targets in Point Clouds using a New Analytic Model and Deep Learning - 2017-09-19 - Research Publication - Vacuum-based end effectors are widely used in industry and are often preferred over parallel-jaw and multifinger grippers due to their ability to lift objects with a single point of contact. YuMi (IRB 14000 Dual-arm) is… - source: arxiv.org
Dual quaternion based kinematic control for Yumi dual arm robot - 2017-06-01 - Research Publication - The URAI paper presents dual-quaternion kinematic control for the YuMi dual-arm robot. The study’s named evaluation platform is YuMi (IRB 14000 Dual-arm) from ABB. - source: doi.org
Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics - 2017-03-27 - Research Publication - To reduce data collection time for deep learning of robust robotic grasp plans, we explore training from a synthetic dataset of 6. 7 million point clouds, grasps, and analytic grasp metrics generated from thousands of 3D… - source: arxiv.org