相关论文: Fast Object Learning and Dual-arm Coordination for…

We tackle the challenge of robotic bin packing with irregular objects, such as groceries. Given the diverse physical attributes of these objects and the complex constraints governing their placement and manipulation, employing preprogrammed…

In scenarios involving the grasping of multiple targets, the learning of stacking relationships between objects is fundamental for robots to execute safely and efficiently. However, current methods lack subdivision for the hierarchy of…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…

Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects…

In this paper, we present a semi supervised deep quick learning framework for instance detection and pixel-wise semantic segmentation of images in a dense clutter of items. The framework can quickly and incrementally learn novel items in an…

We propose a novel formulation of robotic pick and place as a deep reinforcement learning (RL) problem. Whereas most deep RL approaches to robotic manipulation frame the problem in terms of low level states and actions, we propose a more…

When arranging objects with robotic arms, the quality of the end result strongly depends on the achievable placement accuracy. However, even the most advanced robotic systems are prone to positioning errors that can occur at different steps…

We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…

Autonomous robots in unstructured and dynamically changing retail environments have to master complex perception, knowledgeprocessing, and manipulation tasks. To enable them to act competently, we propose a framework based on three core…

We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed. If other movable obstacles occlude the target, more than one object should be relocated to clear…

The visual system of a robot has different requirements depending on the application: it may require high accuracy or reliability, be constrained by limited resources or need fast adaptation to dynamically changing environments. In this…

In our work we focus on Robotic Mobile Fulfillment Systems in e-commerce distribution centers. These systems were designed to increase pick rates by employing mobile robots bringing movable storage units (so-called pods) to pick and…

Bimanual activities like coffee stirring, which require coordination of dual arms, are common in daily life and intractable to learn by robots. Adopting reinforcement learning to learn these tasks is a promising topic since it enables the…

We present SynPick, a synthetic dataset for dynamic scene understanding in bin-picking scenarios. In contrast to existing datasets, our dataset is both situated in a realistic industrial application domain -- inspired by the well-known…

Stowing, the task of placing objects in cluttered shelves or bins, is a common task in warehouse and manufacturing operations. However, this task is still predominantly carried out by human workers as stowing is challenging to automate due…

Learning to act in unstructured environments, such as cluttered piles of objects, poses a substantial challenge for manipulation robots. We present a novel neural network-based approach that separates unknown objects in clutter by selecting…

Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous…

When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…

In a factory production line, different industry parts need to be quickly differentiated and sorted for further process. Parts can be of different colors and shapes. It is tedious for humans to differentiate and sort these objects in…