Link to video: https://www.youtube.com/watch?time_continue=3&v=5Fuhk4oKIvY Human robot collaboration on the shop floor presents a significant set of challenges. In this project we have developed methods for enabling a shop floor mobile robot to assist a human in logistical and assembly tasks, by bringing tools, parts and assisting in the assembly process to reduce the strain on the human worker. The scenario is as follows. In structure assembly, equipment installation and fin

This work presents a data-efficient approach to learning transferable forward models for robotic push manipulation. Our approach extends previous work on modular contact-based predictors by leveraging information on the pushed object's local surface features. We test the hypothesis that, by conditioning predictions on local surface features, we can achieve generalisation across objects of different shapes. Our approach involves learning motion models that are specific to con