Related papers: Vision-Guided Loco-Manipulation with a Snake Robot
We propose DINOBot, a novel imitation learning framework for robot manipulation, which leverages the image-level and pixel-level capabilities of features extracted from Vision Transformers trained with DINO. When interacting with a novel…
Visual loco-manipulation of arbitrary objects in the wild with humanoid robots requires accurate end-effector (EE) control and a generalizable understanding of the scene via visual inputs (e.g., RGB-D images). Existing approaches are based…
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…
We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…
This research focuses on the development of a drone equipped with pruning tools and a stereo vision camera to accurately detect and measure the spatial positions of tree branches. YOLO is employed for branch segmentation, while two depth…
We present GazeGrasp, a gaze-based manipulation system enabling individuals with motor impairments to control collaborative robots using eye-gaze. The system employs an ESP32 CAM for eye tracking, MediaPipe for gaze detection, and YOLOv8…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
Object detection and classification are crucial tasks across various application domains, particularly in the development of safe and reliable Advanced Driver Assistance Systems (ADAS). Existing deep learning-based methods such as…
In recent years, artificial intelligence (AI) based on deep learning (DL) has sparked tremendous global interest. DL is widely used today and has expanded into various interesting areas. It is becoming more popular in cross-subject…
Autonomous robots use simultaneous localization and mapping (SLAM) for efficient and safe navigation in various environments. LiDAR sensors are integral in these systems for object identification and localization. However, LiDAR systems…
We introduce VIOLA, an object-centric imitation learning approach to learning closed-loop visuomotor policies for robot manipulation. Our approach constructs object-centric representations based on general object proposals from a…
Planning robotic manipulation tasks, especially those that involve interaction between deformable and rigid objects, is challenging due to the complexity in predicting such interactions. We introduce SPONGE, a sequence planning pipeline…
There are few industries which use manually controlled robots for carrying material and this cannot be used all the time in all the places. So, it is very tranquil to have robots which can follow a specific human by following the unique…
While prior works have investigated and developed computational models capable of object detection, models still struggle to reliably interpret images with motion blur and small objects. Moreover, none of these models are specifically…
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…
In this paper, we propose a novel strategy for a snake robot to move straight up a cylindrical surface. Prior works on pole-climbing for a snake robot mainly utilized a rolling helix gait, and although proven to be efficient, it does not…
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…