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The Traveling Salesman Problem (TSP) is a classic NP-hard combinatorial optimization task with numerous practical applications. Classic heuristic solvers can attain near-optimal performance for small problem instances, but become…
We consider robotic pick-and-place of partially visible, novel objects, where goal placements are non-trivial, e.g., tightly packed into a bin. One approach is (a) use object instance segmentation and shape completion to model the objects…
Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…
Grasping for novel objects is important for robot manipulation in unstructured environments. Most of current works require a grasp sampling process to obtain grasp candidates, combined with local feature extractor using deep learning. This…
Human activity recognition has become an attractive research area with the development of on-body wearable sensing technology. With comfortable electronic-textiles, sensors can be embedded into clothing so that it is possible to record…
Reliable robotic grasping in unstructured environments is a crucial but challenging task. The main problem is to generate the optimal grasp of novel objects from partial noisy observations. This paper presents an end-to-end grasp detection…
Image foreground extraction is a classical problem in image processing and vision, with a large range of applications. In this dissertation, we focus on the extraction of text and graphics in mixed-content images, and design novel…
The garment transfer problem comprises two tasks: learning to separate a person's body (pose, shape, color) from their clothing (garment type, shape, style) and then generating new images of the wearer dressed in arbitrary garments. We…
Cloth manipulation is challenging due to its highly complex dynamics, near-infinite degrees of freedom, and frequent self-occlusions, which complicate both state estimation and dynamics modeling. Inspired by recent advances in generative…
We introduce a parameterized version of set cover that generalizes several previously studied problems. Given a ground set V and a collection of subsets S_i of V, a feasible solution is a partition of V such that each subset of the…
Efficient and robust grasp pose detection is vital for robotic manipulation. For general 6 DoF grasping, conventional methods treat all points in a scene equally and usually adopt uniform sampling to select grasp candidates. However, we…
This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…
A robust and efficient anomaly detection technique is proposed, capable of dealing with crowded scenes where traditional tracking based approaches tend to fail. Initial foreground segmentation of the input frames confines the analysis to…
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…
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…
We study the problem of instance segmentation in biological images with crowded and compact cells. We formulate this task as an integer program where variables correspond to cells and constraints enforce that cells do not overlap. To solve…
While many quality metrics exist to evaluate the quality of a grasp by itself, no clear quantification of the quality of a grasp relatively to the task the grasp is used for has been defined yet. In this paper we propose a framework to…
This paper tackles the task of category-level pose estimation for garments. With a near infinite degree of freedom, a garment's full configuration (i.e., poses) is often described by the per-vertex 3D locations of its entire 3D surface.…
We present an algorithmic contribution to improve the efficiency of robust trim-fitting in outlier affected geometric regression problems. The method heavily relies on the quick sort algorithm, and we present two important insights. First,…
Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects in limited amounts of time is a common requirement. However,…