Related papers: Geometric Visual Servo Via Optimal Transport

Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick-and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives.…

This paper proposes a receding horizon active learning and control problem for dynamical systems in which Gaussian Processes (GPs) are utilized to model the system dynamics. The active learning objective in the optimization problem is…

Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…

Event-based vision sensors offer high time resolution, high dynamic range, and low power consumption, yet event-based vision models lag behind conventional frame-based vision methods. We argue that this gap is partly due to the lack of…

Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…

With rapid advancements in the area of mobile robotics and industrial automation, a growing need has arisen towards accurate navigation and localization of moving objects. Camera based motion estimation is one such technique which is…

The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…

Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…

This paper proposes a vision-based framework for a 7-degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous…

Visual localization involves estimating a query image's 6-DoF (degrees of freedom) camera pose, which is a fundamental component in various computer vision and robotic tasks. This paper presents LoGS, a vision-based localization pipeline…

Sense of touch that allows robots to detect contact and measure interaction forces enables them to perform challenging tasks such as grasping fragile objects or using tools. Tactile sensors in theory can equip the robots with such…

This paper proposes a new approach to achieve direct visual servoing (DVS) based on discrete orthogonal moments (DOMs). DVS is performed in such a way that the extraction of geometric primitives, matching, and tracking steps in the…

Scalable sensor simulation is an important yet challenging open problem for safety-critical domains such as self-driving. Current works in image simulation either fail to be photorealistic or do not model the 3D environment and the dynamic…

In this work, we present several heuristic-based and data-driven active vision strategies for viewpoint optimization of an arm-mounted depth camera for the purpose of aiding robotic grasping. These strategies aim to efficiently collect data…

In this paper we present a geometric control law for position and line-of-sight stabilization of the nonholonomic spherical robot actuated by three independent actuators. A simple configuration error function with an appropriately defined…

Robotics policies are always subjected to complex, second order dynamics that entangle their actions with resulting states. In reinforcement learning (RL) contexts, policies have the burden of deciphering these complicated interactions over…

Legged robots have the potential to expand the reach of autonomy beyond paved roads. In this work, we consider the difficult problem of locomotion on challenging terrains using a single forward-facing depth camera. Due to the partial…

Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…

Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…

Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to camera viewpoint changes when training with a fixed camera.…