Related papers: Teaching Robots to Do Object Assembly using Multi-…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
A metric-accurate semantic 3D representation is essential for many robotic tasks. This work proposes a simple, yet powerful, way to integrate the 2D embeddings of a Vision-Language Model in a metric-accurate 3D representation at real-time.…
While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…
In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an…
Robot assembly discovery is a challenging problem that lives at the intersection of resource allocation and motion planning. The goal is to combine a predefined set of objects to form something new while considering task execution with the…
Guidance for assemblable parts is a promising field for augmented reality. Augmented reality assembly guidance requires 6D object poses of target objects in real time. Especially in time-critical medical or industrial settings, continuous…
We propose the first framework to learn control policies for vision-based human-to-robot handovers, a critical task for human-robot interaction. While research in Embodied AI has made significant progress in training robot agents in…
Comprehending natural language instructions is a critical skill for robots to cooperate effectively with humans. In this paper, we aim to learn 6D poses for roboticassembly by natural language instructions. For this purpose,…
Current automatic vision systems face two major challenges: scalability and extreme variability of appearance. First, the computational time required to process an image typically scales linearly with the number of pixels in the image,…
Utilizing robotic systems in the construction industry is gaining popularity due to their build time, precision, and efficiency. In this paper, we introduce a system that allows the coordination of multiple manipulator robots for…
The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…
The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…
Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…
Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…
This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…
Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. It is non-trivial to manually design a robot controller that combines these modalities which have very different characteristics.…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…
Advances in sensing and learning algorithms have led to increasingly mature solutions for human detection by robots, particularly in selected use-cases such as pedestrian detection for self-driving cars or close-range person detection in…
This paper develops a flexible and robust robotic system for autonomous drawing on 3D surfaces. The system takes 2D drawing strokes and a 3D target surface (mesh or point clouds) as input. It maps the 2D strokes onto the 3D surface and…