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Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
Hand-eye calibration is a common problem in the field of collaborative robotics, involving the determination of the transformation matrix between the visual sensor and the robot flange to enable vision-based robotic tasks. However, this…
This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…
In this paper, we investigate visual-based camera re-localization with neural networks for robotics and autonomous vehicles applications. Our solution is a CNN-based algorithm which predicts camera pose (3D translation and 3D rotation)…
Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the…
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…
The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…
In this paper, a computational resources-aware parameter adaptation method for visual-inertial navigation systems is proposed with the goal of enabling the improved deployment of such algorithms on computationally constrained systems. Such…
This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC)…
We introduce Dream2Real, a robotics framework which integrates vision-language models (VLMs) trained on 2D data into a 3D object rearrangement pipeline. This is achieved by the robot autonomously constructing a 3D representation of the…
Visual observation of Cumulus Oocyte Complexes provides only limited information about its functional competence, whereas the molecular evaluations methods are cumbersome or costly. Image analysis of mammalian oocytes can provide attractive…
The growing burden of myopia and retinal diseases necessitates more accessible and efficient eye screening solutions. This study presents a compact, dual-function optical device that integrates fundus photography and refractive error…
Automating machine learning has achieved remarkable technological developments in recent years, and building an automated machine learning pipeline is now an essential task. The model ensemble is the technique of combining multiple models…
Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
Accurate segmentation and tracking of relevant elements of the surgical scene is crucial to enable context-aware intraoperative assistance and decision making. Current solutions remain tethered to domain-specific, supervised models that…
Biofouling$\unicode{x2013}$communities of organisms that grow on hard surfaces immersed in water$\unicode{x2013}$provides a pathway for the spread of invasive marine species and diseases. To address this risk, international vessels are…
In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
In this paper, an adaptive and low-cost robotic coating platform for small production series is presented. This new platform presents a flexible architecture that enables fast/automatic system adaptive behaviour without human intervention.…