相关论文: Segmentation of Robot Movements using Position and…
In this paper, we present a method for simultaneous articulation model estimation and segmentation of an articulated object in RGB-D images using human hand motion. Our method uses the hand motion in the processes of the initial…
A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the…
This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically…
The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…
We propose a Bayesian approach to detect multiple change-points in a piecewise-constant signal corrupted by a functional part corresponding to environmental or experimental disturbances. The piecewise constant part (also called segmentation…
Motion, measured via optical flow, provides a powerful cue to discover and learn objects in images and videos. However, compared to using appearance, it has some blind spots, such as the fact that objects become invisible if they do not…
This paper introduces a set of customizable and novel cost functions that enable the user to easily specify desirable robot formations, such as a ``high-coverage'' infrastructure-inspection formation, while maintaining high relative pose…
We introduce a novel robotic system for improving unseen object instance segmentation in the real world by leveraging long-term robot interaction with objects. Previous approaches either grasp or push an object and then obtain the…
Ease of programming is a key factor in making robots ubiquitous in unstructured environments. In this work, we present a sensorized gripper built with off-the-shelf parts, used to record human demonstrations of a box in box assembly task.…
Automatic segmentation of objects from a single image is a challenging problem which generally requires training on large number of images. We consider the problem of automatically segmenting only the dynamic objects from a given pair of…
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
For non-robot-programming experts, kinesthetic guiding can be an intuitive input method, as robot programming of in-contact tasks is becoming more prominent. However, imprecise and noisy input signals from human demonstrations pose problems…
There have been many proposals for algorithms segmenting human whole-body motion in the literature. However, the wide range of use cases, datasets, and quality measures that were used for the evaluation render the comparison of algorithms…
Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…
In this paper, we develop a distributed monitoring framework for robot swarms so that the agents can monitor whether the executions of robot swarms satisfy Swarm Signal Temporal Logic (SwarmSTL) formulas. We define generalized moments (GMs)…
Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…