Related papers: Scensory: Real-Time Robotic Olfactory Perception f…
When exploring new areas, robotic systems generally exclusively plan and execute controls over geometry that has been directly measured. When entering space that was previously obstructed from view such as turning corners in hallways or…
This paper presents the perception system of a new professional cleaning robot for large public places. The proposed system is based on multiple sensors including 3D and 2D lidar, two RGB-D cameras and a stereo camera. The two lidars…
The development of large language models and vision-language models (VLMs) has resulted in the increasing use of robotic systems in various fields. However, the effective integration of these models into real-world robotic tasks is a key…
The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. Using mobile robots for gas detection has several advantages and can reduce danger for humans.…
Source localization in a complex flow poses a significant challenge for multi-robot teams tasked with localizing the source of chemical leaks or tracking the dispersion of an oil spill. The flow dynamics can be time-varying and chaotic,…
Despite increasing research efforts on household robotics, robots intended for deployment in domestic settings still struggle with more complex tasks such as interacting with functional elements like drawers or light switches, largely due…
Real-world applications of computer vision in the humanities require algorithms to be robust against artistic abstraction, peripheral objects, and subtle differences between fine-grained target classes. Existing datasets provide…
Multimodal surface material classification plays a critical role in advancing tactile perception for robotic manipulation and interaction. In this paper, we present Surformer v2, an enhanced multi-modal classification architecture designed…
We present a model of an olfactory system that performs odor segmentation. Based on the anatomy and physiology of natural olfactory systems, it consists of a pair of coupled modules, bulb and cortex. The bulb encodes the odor inputs as…
Learning to automatically perceive smell is becoming increasingly important with applications in monitoring the quality of food and drinks for healthy living. In todays age of proliferation of internet of things devices, the deployment of…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
Olfactory search in turbulent environments is a sensorimotor challenge solved with remarkable efficiency by many animals, yet replicating this ability in artificial systems remains difficult because detections are intermittent and wind…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
Wireless Sensor Network (WSN) applications reshape the trend of warehouse monitoring systems allowing them to track and locate massive numbers of logistic entities in real-time. To support the tasks, classic Radio Frequency (RF)-based…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
Humans effortlessly integrate common-sense knowledge with sensory input from vision and touch to understand their surroundings. Emulating this capability, we introduce FusionSense, a novel 3D reconstruction framework that enables robots to…
Understanding how molecular structure gives rise to odor perception remains a long-standing challenge, with ongoing debate over whether olfaction is primarily governed by molecular shape, vibrational properties, or their interplay at the…
Studies of insect olfactory processing indicate that odors are represented by rich spatio-temporal patterns of neural activity. These patterns are very difficult to predict a priori, yet they are stimulus specific and reliable upon repeated…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…