Robot manipulation · 2025
Desk Organization with Visual Feedback
Making robot manipulation work when objects overlap and perception is imperfect.
The task
The system connects visual-language perception to robot arm control for finding, grasping and organizing objects on a cluttered desk.
Engineering iterations
The 2025 prototypes address unstable detections, adjust gripper opening to object size, and consider neighboring objects when choosing a grasp. A global camera helps locate items outside the local camera field of view.
Current scope
The project has staged physical demonstrations and iterative improvements. Switching autonomously between tidying and wiping was a planned extension, rather than a completed capability in the reported prototype.