相关论文: Learning to Identify Object Instances by Touch: Ta…

Action recognition from multi-modal and multi-view observations holds significant potential for applications in surveillance, robotics, and smart environments. However, existing methods often fall short of addressing real-world challenges…

Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it…

Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…

Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile capabilities is important for numerous emerging…

Much of the focus in the object detection literature has been on the problem of identifying the bounding box of a particular class of object in an image. Yet, in contexts such as robotics and augmented reality, it is often necessary to find…

Autonomously exploring the unknown physical properties of novel objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…

Human tactile perception of materials relies on complex multisensory touch cues, yet the relationship between low-level tactile signals and perceptual representations remains poorly understood. This knowledge gap hinders the integration of…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

This paper addresses the problem of mobile robot manipulation using object detection. Our approach uses detection and control as complimentary functions that learn from real-world interactions. We develop an end-to-end manipulation method…

Material recognition can help inform robots about how to properly interact with and manipulate real-world objects. In this paper, we present a multimodal sensing technique, leveraging near-infrared spectroscopy and close-range high…

Predicting the future interaction of objects when they come into contact with their environment is key for autonomous agents to take intelligent and anticipatory actions. This paper presents a perception framework that fuses visual and…

To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, such spatial awareness involves estimating the object's pose…

Object detection in remote sensing is a crucial computer vision task that has seen significant advancements with deep learning techniques. However, most existing works in this area focus on the use of generic object detection and do not…

In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…

Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…

In robot sensing scenarios, instead of passively utilizing human captured views, an agent should be able to actively choose informative viewpoints of a 3D object as discriminative evidence to boost the recognition accuracy. This task is…

We study the problem of identifying object instances in a dynamic environment where people interact with the objects. In such an environment, objects' appearance changes dynamically by interaction with other entities, occlusion by hands,…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

Deep learning methods have typically been trained on large datasets in which many training examples are available. However, many real-world product datasets have only a small number of images available for each product. We explore the use…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…