Related papers: Robotic Tool Tracking under Partially Visible Kine…
A commonly encountered problem is the tracking of a physical object, like a maneuvering ship, aircraft, land vehicle, spacecraft or animate creature carrying a wireless device. The sensor data is often limited and inaccurate observations of…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
Learning-based control methods utilize run-time data from the underlying process to improve the controller performance under model mismatch and unmodeled disturbances. This is beneficial for optimizing industrial processes, where the…
Robust estimation of object poses in robotic manipulation is often addressed using foundational general estimators, that aim to handle diverse error sources naively within a single model. Still, they struggle due to environmental…
Rendering articulated objects while controlling their poses is critical to applications such as virtual reality or animation for movies. Manipulating the pose of an object, however, requires the understanding of its underlying structure,…
Single-view RGB object pose estimators have reached a level of precision and efficiency that makes them good candidates for vision-based robot control. However, off-the-shelf methods lack temporal consistency and robustness that are…
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems…
Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain…
We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…
Object triangulation, 3-D object tracking, feature correspondence, and camera calibration are key problems for estimation from camera networks. This paper addresses these problems within a unified Bayesian framework for joint multi-object…
Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their…
In this paper, we propose composable part-based manipulation (CPM), a novel approach that leverages object-part decomposition and part-part correspondences to improve learning and generalization of robotic manipulation skills. By…
In recent years, a myriad of advanced results have been reported in the community of imitation learning, ranging from parametric to non-parametric, probabilistic to non-probabilistic and Bayesian to frequentist approaches. Meanwhile, ample…
A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the…
This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…
With the recent advances in machine learning, problems that traditionally would require accurate modeling to be solved analytically can now be successfully approached with data-driven strategies. Among these, computing the inverse…
Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable well adaptability with a few motions but often sacrifice…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate relationships between the corresponding reference frames. For wheeled robots equipped with camera/lidar along…
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…