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Free space ground segmentation is essential to navigate autonomous robots, recognize drivable zones, and traverse efficiently. Fine-grained features remain challenging for existing segmentation models, particularly for robots in indoor,…
As hubs of human activity, urban surfaces consist of a wealth of semantic entities. Segmenting these various entities from satellite imagery is crucial for a range of downstream applications. Current advanced segmentation models can…
Growing waste streams and the transition to a circular economy require efficient automated waste sorting. In industrial settings, materials move on fast conveyor belts, where reliable identification and ejection demand pixel-accurate…
How can we segment varying numbers of objects where each specific object represents its own separate class? To make the problem even more realistic, how can we add and delete classes on the fly without retraining or fine-tuning? This is the…
In this paper, we tackle the problem of visual categorization of dog breeds, which is a surprisingly challenging task due to simultaneously present low interclass distances and high intra-class variances. Our approach combines several…
This paper presents an architecture and methodology to empower a service robot to navigate an indoor environment with semantic decision making, given RGB ego view. This method leverages the knowledge of robot's actuation capability and that…
Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These…
Waste recycling is an important way of saving energy and materials in the production process. In general cases recyclable objects are mixed with unrecyclable objects, which raises a need for identification and classification. This paper…
How do computers and intelligent agents view the world around them? Feature extraction and representation constitutes one the basic building blocks towards answering this question. Traditionally, this has been done with carefully engineered…
With the increasing use of plastic, the challenges associated with managing plastic waste have become more challenging, emphasizing the need of effective solutions for classification and recycling. This study explores the potential of deep…
Polythene has always been a threat to the environment since its invention. It is non-biodegradable and very difficult to recycle. Even after many awareness campaigns and practices, Separation of polythene bags from waste has been a…
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…
Amodal recognition is the ability of the system to detect occluded objects. Most SOTA Visual Recognition systems lack the ability to perform amodal recognition. Few studies have achieved amodal recognition through passive prediction or…
Inertial mass plays a crucial role in robotic applications such as object grasping, manipulation, and simulation, providing a strong prior for planning and control. Accurately estimating an object's mass before interaction can significantly…
This study intends to build a smartbin that segregates solid waste into its respective bins. To make the waste management process more interesting for the end-users; to notify the utility staff when the smart bin needs to be unloaded; to…
We propose to leverage a real-world, human activity RGB dataset to teach a robot Task-Oriented Grasping (TOG). We develop a model that takes as input an RGB image and outputs a hand pose and configuration as well as an object pose and a…
Analyzing octopuses in their natural habitats is challenging due to their camouflage capability, rapid changes in skin texture and color, non-rigid body deformations, and frequent occlusions, all of which are compounded by variable…
Material recognition enables robots to incorporate knowledge of material properties into their interactions with everyday objects. For example, material recognition opens up opportunities for clearer communication with a robot, such as…
One of the most important challenges of Smart City Applications is to adapt the system to interact with non-expert users. Robot imitation frameworks aim to simplify and reduce times of robot programming by allowing users to program directly…
Recent years have seen soft robotic grippers gain increasing attention due to their ability to robustly grasp soft and fragile objects. However, a commonly available standardised evaluation protocol has not yet been developed to assess the…