Related papers: Efficient Object Rearrangement via Multi-view Fusi…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
Multi-object tracking (MOT) aims to associate target objects across video frames in order to obtain entire moving trajectories. With the advancement of deep neural networks and the increasing demand for intelligent video analysis, MOT has…
Multi-view clustering is an important approach to analyze multi-view data in an unsupervised way. Among various methods, the multi-view subspace clustering approach has gained increasing attention due to its encouraging performance.…
In current perception systems applied to the rebuilding of the environment for intelligent vehicles, the part reserved to object association for the tracking is increasingly significant. This allows firstly to follow the objects temporal…
Generative image models are increasingly being used for training data augmentation in vision tasks. In the context of automotive object detection, methods usually focus on producing augmented frames that look as realistic as possible, for…
During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In…
Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…
We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects…
Video object insertion is a critical task for dynamically inserting new objects into existing environments. Previous video generation methods focus primarily on synthesizing entire scenes while struggling with ensuring consistent object…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
We introduce Dream2Real, a robotics framework which integrates vision-language models (VLMs) trained on 2D data into a 3D object rearrangement pipeline. This is achieved by the robot autonomously constructing a 3D representation of the…
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…
Detecting objects and estimating their 6D poses is essential for automated systems to interact safely with the environment. Most 6D pose estimators, however, rely on a single camera frame and suffer from occlusions and ambiguities due to…
The ability for an autonomous agent or robot to track and identify potentially multiple objects in a dynamic environment is essential for many applications, such as automated surveillance, traffic monitoring, human-robot interaction, etc.…
For planning rearrangements of objects in a clutter, it is required to know the goal configuration of the objects. However, in real life scenarios, this information is not available most of the time. We introduce a novel method that…
Predicting the pose of objects from a single image is an important but difficult computer vision problem. Methods that predict a single point estimate do not predict the pose of objects with symmetries well and cannot represent uncertainty.…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
Image-goal navigation aims to steer an agent towards the goal location specified by an image. Most prior methods tackle this task by learning a navigation policy, which extracts visual features of goal and observation images, compares their…
We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…