相关论文: Knowledge-Enabled Robotic Agents for Shelf Repleni…

We propose a planning and perception mechanism for a robot (agent), that can only observe the underlying environment partially, in order to solve an image classification problem. A three-layer architecture is suggested that consists of a…

Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…

In this paper, we propose a concept learning architecture that enables a robot to build symbols through self-exploration by interacting with a varying number of objects. Our aim is to allow a robot to learn concepts without constraints,…

The ability to shop independently, especially in grocery stores, is important for maintaining a high quality of life. This can be particularly challenging for people with visual impairments (PVI). Stores carry thousands of products, with…

Learning product representations that reflect complementary relationship plays a central role in e-commerce recommender system. In the absence of the product relationships graph, which existing methods rely on, there is a need to detect the…

The ability to navigate and interact with complex environments is central to real-world embodied agents, yet navigation in unseen environments remains challenging due to "experiential amnesia," where existing trajectory-driven or reactive…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…

Recognition of grocery products in store shelves poses peculiar challenges. Firstly, the task mandates the recognition of an extremely high number of different items, in the order of several thousands for medium-small shops, with many of…

Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…

Explaining the behaviour of intelligent agents learned by reinforcement learning (RL) to humans is challenging yet crucial due to their incomprehensible proprioceptive states, variational intermediate goals, and resultant unpredictability.…

Manipulating objects is a hallmark of human intelligence, and an important task in domains such as robotics. In principle, Reinforcement Learning (RL) offers a general approach to learn object manipulation. In practice, however, domains…

Service robots operating in cluttered human environments such as homes, offices, and schools cannot rely on predefined object arrangements and must continuously update their semantic and spatial estimates while dealing with possible…

Knowledge-based entity prediction (KEP) is a novel task that aims to improve machine perception in autonomous systems. KEP leverages relational knowledge from heterogeneous sources in predicting potentially unrecognized entities. In this…

Learning skills that interact with objects is of major importance for robotic manipulation. These skills can indeed serve as an efficient prior for solving various manipulation tasks. We propose a novel Skill Learning approach that…

Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…

This paper presents a system called Robo-CSK-Organizer that infuses commonsense knowledge from a classical knowledge based to enhance the context recognition capabilities of robots so as to facilitate the organization of detected objects by…

Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

The efficient planning of stacking boxes, especially in the online setting where the sequence of item arrivals is unpredictable, remains a critical challenge in modern warehouse and logistics management. Existing solutions often address box…

The paper develops a robotic manipulation system to treat the pressing needs for handling a large number of test tubes in clinical examination and replace or reduce human labor. It presents the technical details of the system, which…