Related papers: Active Robotic Perception for Disease Detection an…
This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities of particular…
Retrieving target objects from unknown, confined spaces remains a challenging task that requires integrated, task-driven active sensing and rearrangement planning. Previous approaches have independently addressed active sensing and…
Safe autonomous exploration of unknown environments is an essential skill for mobile robots to effectively and adaptively perform environmental mapping for diverse critical tasks. Due to its simplicity, most existing exploration methods…
Robotic branch pruning is a significantly growing research area to cope with the shortage of labor force in the context of agriculture. One fundamental requirement in robotic pruning is the perception of detailed geometry and topology of…
This study presents a closed-loop robotic strawberry harvesting system that combines a robust vision module, simulation-trained deep reinforcement learning (DRL) control, and ROS-based realrobot execution. For perception, we propose…
We present 3D-Anchored Lookahead Planning (3D-ALP), a System 2 reasoning engine for robotic manipulation that combines Monte Carlo Tree Search (MCTS) with a 3D-consistent world model as the rollout oracle. Unlike reactive policies that…
With its growing number of deployed devices and applications, the Internet of Things (IoT) raises significant challenges for network maintenance procedures. In this work we address a problem of active fault detection in an IoT scenario,…
The early identification of diseases in cocoa pods is an important task to guarantee the production of high-quality cocoa. The use of artificial intelligence techniques such as machine learning, computer vision and deep learning are…
The ocean is warming and acidifying, increasing the risk of mass mortality events for temperature-sensitive shellfish such as oysters. This motivates the development of long-term monitoring systems. However, human labor is costly and…
Agricultural robotics is an active research area due to global population growth and expectations of food and labor shortages. Robots can potentially help with tasks such as pruning, harvesting, phenotyping, and plant modeling. However,…
High efficiency in precision farming depends on accurate tools to perform weed detection and mapping of crops. This allows for precise removal of harmful weeds with a lower amount of pesticides, as well as increase of the harvest's yield by…
Data collection for forestry, timber, and agriculture currently relies on manual techniques which are labor-intensive and time-consuming. We seek to demonstrate that robotics offers improvements over these techniques and accelerate…
Automating labor-intensive tasks such as crop monitoring with robots is essential for enhancing production and conserving resources. However, autonomously monitoring horticulture crops remains challenging due to their complex structures,…
Plant diseases are a major threat to food security globally. It is important to develop early detection systems which can accurately detect. The advancement in computer vision techniques has the potential to solve this challenge. We have…
Active perception enables robots to dynamically gather information by adjusting their viewpoints, a crucial capability for interacting with complex, partially observable environments. In this paper, we present AP-VLM, a novel framework that…
Dormant pruning for fresh market fruit trees is a relatively unexplored application of agricultural robotics for which few end-to-end systems exist. One of the biggest challenges in creating an autonomous pruning system is the need to…
In the medical field, landmark detection in MRI plays an important role in reducing medical technician efforts in tasks like scan planning, image registration, etc. First, 88 landmarks spread across the brain anatomy in the three respective…
To optimize fruit production, a portion of the flowers and fruitlets of apple trees must be removed early in the growing season. The proportion to be removed is determined by the bloom intensity, i.e., the number of flowers present in the…
Robotic science missions in remote environments, such as deep ocean and outer space, can involve studying phenomena that cannot directly be observed using on-board sensors but must be deduced by combining measurements of correlated…
Autonomous crop monitoring is a difficult task due to the complex structure of plants. Occlusions from leaves can make it impossible to obtain complete views about all fruits of, e.g., pepper plants. Therefore, accurately estimating the…