相关论文: 4-DoF Tracking for Robot Fine Manipulation Tasks

Collecting high-quality data for training large-scale robotic models typically relies on real robot platforms, which is labor-intensive and costly, whether via teleoperation or scripted demonstrations. To scale data collection, many…

Wheeled robots have recently demonstrated superior mechanical capability to traverse vertically challenging terrain (e.g., extremely rugged boulders comparable in size to the vehicles themselves). Negotiating such terrain introduces…

In the last decade many different algorithms have been proposed to track a generic object in videos. Their execution on recent large-scale video datasets can produce a great amount of various tracking behaviours. New trends in Reinforcement…

During the recent years, correlation filters have shown dominant and spectacular results for visual object tracking. The types of the features that are employed in these family of trackers significantly affect the performance of visual…

In this paper, we study a discriminatively trained deep convolutional network for the task of visual tracking. Our tracker utilizes both motion and appearance features that are extracted from a pre-trained dual stream deep convolution…

Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…

We present PixTrack, a vision based object pose tracking framework using novel view synthesis and deep feature-metric alignment. We follow an SfM-based relocalization paradigm where we use a Neural Radiance Field to canonically represent…

Robotic grasping aims to detect graspable points and their corresponding gripper configurations in a particular scene, and is fundamental for robot manipulation. Existing research works have demonstrated the potential of using a transformer…

Visual Object tracking research has undergone significant improvement in the past few years. The emergence of tracking by detection approach in tracking paradigm has been quite successful in many ways. Recently, deep convolutional neural…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

Recently, template-based trackers have become the leading tracking algorithms with promising performance in terms of efficiency and accuracy. However, the correlation operation between query feature and the given template only exploits…

Soft robotics, with their inherent flexibility and infinite degrees of freedom (DoF), offer promising advancements in human-machine interfaces. Particularly, pneumatic artificial muscles (PAMs) and pneumatic bending actuators have been…

In the last decades, visual target tracking has been one of the primary research interests of the Robotics research community. The recent advances in Deep Learning technologies have made the exploitation of visual tracking approaches…

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…

The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…

In this paper, we propose a novel visual tracking framework that intelligently discovers reliable patterns from a wide range of video to resist drift error for long-term tracking tasks. First, we design a Discrete Fourier Transform (DFT)…

Intelligent manipulation benefits from the capacity to flexibly control an end-effector with high degrees of freedom (DoF) and dynamically react to the environment. However, due to the challenges of collecting effective training data and…

As the number of the robot's degrees of freedom increases, the implementation of robot motion becomes more complex and difficult. In this study, we focus on learning 6DOF-grasping motion and consider dividing the grasping motion into…

Recently, vision-based control has gained traction by leveraging the power of machine learning. In this work, we couple a model predictive control (MPC) framework to a visual pipeline. We introduce deep optical flow (DOF) dynamics, which is…

The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…