Related papers: Imagination-enabled Robot Perception
The predictive functions that permit humans to infer their body state by sensorimotor integration are critical to perform safe interaction in complex environments. These functions are adaptive and robust to non-linear actuators and noisy…
Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…
Autonomous robots are currently one of the most popular Artificial Intelligence problems, having experienced significant advances in the last decade, from Self-driving cars and humanoids to delivery robots and drones. Part of the problem is…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…
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…
Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…
In a developmental framework, autonomous robots need to explore the world and learn how to interact with it. Without an a priori model of the system, this opens the challenging problem of having robots master their interface with the world:…
This paper makes the case that a powerful new discipline, which we term perception engineering, is steadily emerging. It follows from a progression of ideas that involve creating illusions, from historical paintings and film, to video games…
Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…
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…
Autonomous agents are increasingly expected to operate in complex, dynamic, and uncertain environments, performing tasks such as manipulation, navigation, and decision-making. Achieving these capabilities requires agents to understand the…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
It will be increasingly common for robots to operate in cluttered human-centered environments such as homes, workplaces, and hospitals, where the robot is often tasked to maintain perception constraints, such as monitoring people or…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
Manipulation tasks in daily life, such as pouring water, unfold intentionally under specialized manipulation contexts. Being able to process contextual knowledge in these Activities of Daily Living (ADLs) over time can help us understand…
An increasing number of nonspecialist robotic users demand easy-to-use machines. In the context of visual servoing, the removal of explicit image processing is becoming a trend, allowing an easy application of this technique. This work…