Related papers: Accurate Pouring with an Autonomous Robot Using an…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…
Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this context, RGB image and point-cloud observations are two…
This paper presents a localization algorithm for autonomous urban vehicles under rain weather conditions. In adverse weather, human drivers anticipate the location of the ego-vehicle based on the control inputs they provide and surrounding…
Increasing demand for meat products combined with farm labor shortages has resulted in a need to develop new real-time solutions to monitor animals effectively. Significant progress has been made in continuously locating individual pigs…
This document is an introduction to designing a multiple degree of freedom robotic manipulator. The goal of the robot is to sort an object based upon the objects color. The robot will be a synthesis of several linkages, servo motors, an…
The agricultural irrigation system is closely related to agricultural production. There are some problems in nowadays agricultural irrigation system, such as poor mobility, imprecision and high price. To address these issues, an intelligent…
Modern robotic perception is highly dependent on neural networks. It is well known that neural network-based perception can be unreliable in real-world deployment, especially in difficult imaging conditions. Out-of-distribution detection is…
A vacuum lifter is widely used to hold and pick up large, heavy, and flat objects. Conventionally, when using a vacuum lifter, a human worker watches the state of a running vacuum lifter and adjusts the object's pose to maintain balance. In…
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…
Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high…
Near-field perception is essential for the safe operation of autonomous mobile robots (AMRs) in manufacturing environments. Conventional ranging sensors such as light detection and ranging (LiDAR) and ultrasonic devices provide broad…
Positioning patients for scanning and interventional procedures is a critical task that requires high precision and accuracy. The conventional workflow involves manually adjusting the patient support to align the center of the target body…
In this work, we present a system that enables delivery drones to autonomously navigate and deliver packages at various locations around a house according to the desire of the recipient and without the need for any external markers as…
Robots operating in populated environments encounter many different types of people, some of whom might have an advanced need for cautious interaction, because of physical impairments or their advanced age. Robots therefore need to…
Effective pollination is a key challenge for indoor farming, since bees struggle to navigate without the sun. While a variety of robotic system solutions have been proposed, it remains difficult to autonomously check that a flower has been…
Following a specific user is a desired or even required capability for service robots in many human-robot collaborative applications. However, most existing person-following robots follow people without knowledge of who it is following. In…
Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…
In this paper, we study the problem of adapting manipulation trajectories involving grasped objects (e.g. tools) defined for a single grasp pose to novel grasp poses. A common approach to address this is to define a new trajectory for each…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…