Related papers: Amortized Object and Scene Perception for Long-ter…

Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…

Object permanence in psychology means knowing that objects still exist even if they are no longer visible. It is a crucial concept for robots to operate autonomously in uncontrolled environments. Existing approaches learn object permanence…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

It has always been expected that a robot can be easily deployed to unknown scenarios, accomplishing robotic grasping tasks without human intervention. Nevertheless, existing grasp detection approaches are typically off-body techniques and…

If a robot is supposed to roam an environment and interact with objects, it is often necessary to know all possible objects in advance, so that a database with models of all objects can be generated for visual identification. However, this…

In industrial environments, predicting human actions is essential for ensuring safe and effective collaboration between humans and robots. This paper introduces a perception framework that enables mobile robots to understand and share…

The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…

We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. This uncertainty is due to noisy sensing, inaccurate models and hard-to-predict environment dynamics. We quantify the importance of…

Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…

Autonomous agents, particularly in the field of robotics, rely on sensory information to perceive and navigate their environment. However, these sensory inputs are often imperfect, leading to distortions in the agent's internal…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

Robots that interact with humans in a physical space or application need to think about the person's posture, which typically comes from visual sensors like cameras and infra-red. Artificial intelligence and machine learning algorithms use…

In this paper, we explore the problem of interesting scene prediction for mobile robots. This area is currently underexplored but is crucial for many practical applications such as autonomous exploration and decision making. Inspired by…

Service robots are appearing more and more in our daily life. The development of service robots combines multiple fields of research, from object perception to object manipulation. The state-of-the-art continues to improve to make a proper…

The visual world is very rich and generally too complex to perceive in its entirety. Yet only certain features are typically required to adequately perform some task in a given situation. Rather than hardwire-in decisions about when and…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Perception algorithms are ubiquitous in modern autonomy stacks, providing necessary environmental information to operate in the real world. Many of these algorithms depend on the visibility of keypoints, which must remain within the robot's…

Despite the recent successes in robotics, artificial intelligence and computer vision, a complete artificial agent necessarily must include active perception. A multitude of ideas and methods for how to accomplish this have already appeared…

Humans have impressive generalization capabilities when it comes to manipulating objects and tools in completely novel environments. These capabilities are, at least partially, a result of humans having internal models of their bodies and…

As robotics continues to advance, the need for adaptive and continuously-learning embodied agents increases, particularly in the realm of assistance robotics. Quick adaptability and long-term information retention are essential to operate…