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Structured pruning is an effective compression technique to reduce the computation of neural networks, which is usually achieved by adding perturbations to reduce network parameters at the cost of slightly increasing training loss. A more…
Apple is one of the remarkable fresh fruit that contains a high degree of nutritious and medicinal value. Hand harvesting of apples by seasonal farmworkers increases physical damages on the surface of these fruits, which causes a great loss…
In this work, a control scheme for approaching and unveiling a partially occluded object of interest is proposed.The control scheme is based only on the classified point cloud obtained by the in-hand camera attached to the robot's end…
Robotic strawberry harvesting remains challenging under partial occlusion, where leaf interference introduces significant geometric uncertainty and renders grasp decisions based on a single deterministic shape estimate unreliable. From a…
Efficient sampling from constraint manifolds, and thereby generating a diverse set of solutions for feasibility problems, is a fundamental challenge. We consider the case where a problem is factored, that is, the underlying nonlinear…
Early-stage identification of fruit flowers that are in both opened and unopened condition in an orchard environment is significant information to perform crop load management operations such as flower thinning and pollination using…
Apples are among the most widely consumed fruits worldwide. Currently, apple harvesting fully relies on manual labor, which is costly, drudging, and hazardous to workers. Hence, robotic harvesting has attracted increasing attention in…
Drones have revolutionized various domains, including agriculture. Recent advances in deep learning have propelled among other things object detection in computer vision. This study utilized YOLO, a real-time object detector, to identify…
Driven by the need to address labor shortages and meet the demands of a rapidly growing population, robotic automation has become a critical component in precision agriculture. Leaf-level hyperspectral spectroscopy is shown to be a powerful…
Polyculture farming has environmental advantages but requires substantially more pruning than monoculture farming. We present novel hardware and algorithms for automated pruning. Using an overhead camera to collect data from a physical…
In Vision Language Models (VLMs), vision tokens are quantity-heavy yet information-dispersed compared with language tokens, thus consume too much unnecessary computation. Pruning redundant vision tokens for high VLM inference efficiency has…
Learning from Demonstration offers great potential for robots to learn to perform agricultural tasks, specifically selective harvesting. One of the challenges is that the target fruit can be oscillating while approaching. Grasping…
Most existing robotic harvesters utilize a unimanual approach; a single arm grasps the crop and detaches it, either via a detachment movement, or by cutting its stem with a specially designed gripper/cutter end-effector. However, such…
Top-down induction of decision trees has been observed to suffer from the inadequate functioning of the pruning phase. In particular, it is known that the size of the resulting tree grows linearly with the sample size, even though the…
In some entertainment and virtual reality applications, it is necessary to model and draw the real world realistically, so as to improve the fidelity of natural scenes and make users have a better sense of immersion. However, due to the…
Neural networks performance has been significantly improved in the last few years, at the cost of an increasing number of floating point operations per second (FLOPs). However, more FLOPs can be an issue when computational resources are…
Deep neural network (DNN) pruning has become a de facto component for deploying on resource-constrained devices since it can reduce memory requirements and computation costs during inference. In particular, channel pruning gained more…
In this paper we propose a supervised learning system for counting and localizing palm trees in high-resolution, panchromatic satellite imagery (40cm/pixel to 1.5m/pixel). A convolutional neural network classifier trained on a set of palm…
The task of counting eucalyptus trees from aerial images collected by unmanned aerial vehicles (UAVs) has been frequently explored by techniques of estimation of the basal area, i.e, by determining the expected number of trees based on…
Efficient identification of picking points is critical for automated fruit harvesting. Avocados present unique challenges owing to their irregular shape, weight, and less-structured growing environments, which require specific viewpoints…