Related papers: Optimized edge-based grasping method for a clutter…
Robotic pick and place stands at the heart of autonomous manipulation. When conducted in cluttered or complex environments robots must jointly reason about the selected grasp and desired placement locations to ensure success. While several…
Reasoning about object grasp affordances allows an autonomous agent to estimate the most suitable grasp to execute a task. While current approaches for estimating grasp affordances are effective, their prediction is driven by hypotheses on…
In the context of changing travel behaviors and the expanding user base of Geographic Information System (GIS) services, conventional centralized architectures responsible for handling shortest distance queries are facing increasing…
Grasp pose detection in cluttered, real-world environments remains a significant challenge due to noisy and incomplete sensory data combined with complex object geometries. This paper introduces Grasp the Graph 2.0 (GtG 2.0) method, a…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
Boundary labeling is a technique in computational geometry used to label sets of features in an illustration. It involves placing labels along an axis-parallel bounding box and connecting each label with its corresponding feature using…
Shape completion networks have been used recently in real-world robotic experiments to complete the missing/hidden information in environments where objects are only observed in one or few instances where self-occlusions are bound to occur.…
This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first identifies potential structures that can afford the action of…
Grasp planning for multi-fingered hands is still a challenging task due to the high nonlinear quality metrics, the high dimensionality of hand posture configuration, and complex object shapes. Analytical-based grasp planning algorithms…
In this paper, we present Sim-Grasp, a robust 6-DOF two-finger grasping system that integrates advanced language models for enhanced object manipulation in cluttered environments. We introduce the Sim-Grasp-Dataset, which includes 1,550…
Sampling-based model predictive control (MPC) optimization methods, such as Model Predictive Path Integral (MPPI), have recently shown promising results in various robotic tasks. However, it might produce an infeasible trajectory when the…
Grasp detection in cluttered scenes is a very challenging task for robots. Generating synthetic grasping data is a popular way to train and test grasp methods, as is Dex-net and GraspNet; yet, these methods generate training grasps on 3D…
Grasp detection of novel objects in unstructured environments is a key capability in robotic manipulation. For 2D grasp detection problems where grasps are assumed to lie in the plane, it is common to design a fully convolutional neural…
Cloth detection and manipulation is a common task in domestic and industrial settings, yet such tasks remain a challenge for robots due to cloth deformability. Furthermore, in many cloth-related tasks like laundry folding and bed making, it…
In this paper, we introduce a Grasp Manifold Estimator (GraspME) to detect grasp affordances for objects directly in 2D camera images. To perform manipulation tasks autonomously it is crucial for robots to have such graspability models of…
In the emerging advancement in the branch of autonomous robotics, the ability of a robot to efficiently localize and construct maps of its surrounding is crucial. This paper deals with utilizing thermal-infrared cameras, as opposed to…
This is a review paper of traditional approaches for edge, corner, and boundary detection methods. There are many real-world applications of edge, corner, and boundary detection methods. For instance, in medical image analysis, edge…
This paper addresses the "Teenager's Problem": efficiently removing scattered garments from a planar surface into a basket. As grasping and transporting individual garments is highly inefficient, we propose policies to select grasp…
Autonomous robot navigation in complex environments requires robust perception as well as high-level scene understanding due to perceptual challenges, such as occlusions, and uncertainty introduced by robot movement. For example, a robot…
In this paper we study the problem of improving human hand pose sensing device performance by exploiting the knowledge on how humans most frequently use their hands in grasping tasks. In a companion paper we studied the problem of…