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Precise segmentation of irregular and densely arranged components is essential for robotic disassembly and material recovery in electronic waste (e-waste) recycling. This study evaluates the impact of model architecture and scale on…

Shape assembly, which aims to reassemble separate parts into a complete object, has gained significant interest in recent years. Existing methods primarily rely on networks to predict the poses of individual parts, but often fail to…

In this paper we show how different choices regarding compliance affect a dual-arm assembly task. In addition, we present how the compliance parameters can be learned from a human demonstration. Compliant motions can be used in assembly…

Adaptive robotics plays an essential role in achieving truly co-creative cyber physical systems. In robotic manipulation tasks, one of the biggest challenges is to estimate the pose of given workpieces. Even though the recent…

Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on CAD models…

Functional grasp is essential for enabling dexterous multi-finger robot hands to manipulate objects effectively. However, most prior work either focuses on power grasping, which simply involves holding an object still, or relies on costly…

Multi-view visual reasoning is essential for intelligent systems that must understand complex environments from sparse and discrete viewpoints, yet existing research has largely focused on single-image or temporally dense video settings. In…

We introduce a practical robotics solution for the task of heterogeneous bagging, requiring the placement of multiple rigid and deformable objects into a deformable bag. This is a difficult task as it features complex interactions between…

Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale grasping data sets that feed learning algorithms is becoming more and more popular. An often…

We address the task of aligning CAD models to a video sequence of a complex scene containing multiple objects. Our method can process arbitrary videos and fully automatically recover the 9 DoF pose for each object appearing in it, thus…

Benchmarking of robotic manipulations is one of the open issues in robotic research. An important factor that has enabled progress in this area in the last decade is the existence of common object sets that have been shared among different…

Real-world scenes are inherently crowded. Hence, estimating 3D poses of all nearby humans, tracking their movements over time, and understanding their activities within social and environmental contexts are essential for many applications,…

Human pose estimation and action recognition are related tasks since both problems are strongly dependent on the human body representation and analysis. Nonetheless, most recent methods in the literature handle the two problems separately.…

Estimating the 6D pose and size of household containers is challenging due to large intra-class variations in the object properties, such as shape, size, appearance, and transparency. The task is made more difficult when these objects are…

For robots to truly collaborate and assist humans, they must understand not only logic and instructions, but also the subtle emotions, aesthetics, and feelings that define our humanity. Human art and aesthetics are among the most elusive…

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…

While a great variety of 3D cameras have been introduced in recent years, most publicly available datasets for object recognition and pose estimation focus on one single camera. In this work, we present a dataset of 32 scenes that have been…

Human pose estimation is a key task in computer vision with various applications such as activity recognition and interactive systems. However, the lack of consistency in the annotated skeletons across different datasets poses challenges in…

Object pose recovery has gained increasing attention in the computer vision field as it has become an important problem in rapidly evolving technological areas related to autonomous driving, robotics, and augmented reality. Existing…

3D pose estimation from a single 2D image is an important and challenging task in computer vision with applications in autonomous driving, robot manipulation and augmented reality. Since 3D pose is a continuous quantity, a natural…