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There is increasing demand for automated systems that can fabricate 3D structures. Robotic spatial extrusion has become an attractive alternative to traditional layer-based 3D printing due to a manipulator's flexibility to print large,…
Multi-step dexterous manipulation is a fundamental skill in household scenarios, yet remains an underexplored area in robotics. This paper proposes a modular approach, where each step of the manipulation process is addressed with dedicated…
A staircase localization method is proposed for robots to explore urban environments autonomously. The proposed method employs a modular design in the form of a cascade pipeline consisting of three modules of stair detection, line segment…
When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from…
We propose a novel point cloud based 3D organ segmentation pipeline utilizing deep Q-learning. In order to preserve shape properties, the learning process is guided using a statistical shape model. The trained agent directly predicts…
The potential of tree planting as a natural climate solution is often undermined by inadequate monitoring of tree planting projects. Current monitoring methods involve measuring trees by hand for each species, requiring extensive cost,…
In human-made scenarios, robots need to be able to fully operate objects in their surroundings, i.e., objects are required to be functionally grasped rather than only picked. This imposes very strict constraints on the object pose such that…
Learning-based edge detection models trained with cross-entropy loss often suffer from thick edge predictions, which deviate from the crisp, single-pixel annotations typically provided by humans. While previous approaches to achieving crisp…
The task of automatically segmenting 3-D surfaces representing boundaries of objects is important for quantitative analysis of volumetric images, and plays a vital role in biomedical image analysis. Recently, graph-based methods with a…
It has been found that certain biological organisms, such as Erodium seeds and Scincus scincus, are capable of effectively and efficiently burying themselves in soil. Biological Organisms employ various locomotion modes, including coiling…
Mobile robots have shown immense potential and are expected to be widely used in the service industry. The importance of automatic navigation and voice cloning cannot be overstated as they enable functional robots to provide high-quality…
Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…
Dormant pruning of fruit trees is an important task for maintaining tree health and ensuring high-quality fruit. Due to decreasing labor availability, pruning is a prime candidate for robotic automation. However, pruning also represents a…
Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…
Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…
This paper contributes a novel learning-based method for aggressive task-driven compression of depth images and their encoding as images tailored to collision prediction for robotic systems. A novel 3D image processing methodology is…
Interventional Radiology (IR) enables earlier diagnosis and less invasive treatment of numerous ailments. Here we present our ongoing development of CRANE: CT RoboticArm and Needle Emplacer, a robotic needle positioning system for CT guided…
Deep learning and computer vision techniques have become increasingly important in the development of self-driving cars. These techniques play a crucial role in enabling self-driving cars to perceive and understand their surroundings,…
Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however,…
When humans perform complex insertion tasks such as pushing a cup into a cupboard, routing a cable, or putting a key in a lock, they wiggle the object and adapt the process through tactile feedback. A similar robotic approach has not been…