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Robot-assisted minimally invasive surgeries offer many advantages but require complex motor tasks that take surgeons years to master. There is currently a lack of knowledge on how surgeons acquire these robotic surgical skills. Toward…
Single shot approaches have demonstrated tremendous success on various computer vision tasks. Finding good parameterizations for 6D object pose estimation remains an open challenge. In this work, we propose different novel parameterizations…
In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…
Unsupervised object modeling is important in robotics, especially for handling a large set of objects. We present a method for unsupervised 3D object discovery, reconstruction, and localization that exploits multiple instances of an…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Robotic control tasks are often first run in simulation for the purposes of verification, debugging and data augmentation. Many methods exist to specify what task a robot must complete, but few exist to specify what range of environments a…
2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…
The problem of image-based visual servoing (IBVS) of an aerial robot using deep-learning-based keypoint detection is addressed in this article. A monocular RGB camera mounted on the platform is utilized to collect the visual data. A…
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…
Robot systems capable of executing tasks based on language instructions have been actively researched. It is challenging to convey uncertain information that can only be determined on-site with a single language instruction to the robot. In…
Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…
To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…
The estimation of inertial parameters of a robotic system is crucial for better trajectory tracking performance, specially when model-based controllers are used for carrying out precise tasks. In this paper, we consider the scenario of…
This paper proposes a simple and efficient method for the reconstruction and extraction of geometric parameters from 3D tubular objects. Our method constructs an image that accumulates surface normal information, then peaks within this…
Machine perception is an important prerequisite for safe interaction and locomotion in dynamic environments. This requires not only the timely perception of surrounding geometries and distances but also the ability to react to changing…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
Opening heavy, self closing doors, especially those that require pulling remains a long standing challenge in robotics. Humans naturally employ both arms in a dexterous manner, rotating the handle, widening the gap, holding the door,…
Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…
Robot Coverage Path planning (i.e., provide full coverage of a given domain by one or multiple robots) is a classical problem in the field of robotics and motion planning. The goal is to provide nearly full coverage while also minimize…
Knowing the inertia parameters of a grasped object is crucial for dynamics-aware manipulation, especially in space robotics with free-floating bases. This work addresses the problem of estimating the inertia parameters of an unknown target…