相关论文: Best Viewpoints for External Robots or Sensors Ass…

This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…

While many quality metrics exist to evaluate the quality of a grasp by itself, no clear quantification of the quality of a grasp relatively to the task the grasp is used for has been defined yet. In this paper we propose a framework to…

Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…

General robotic grasping systems require accurate object affordance perception in diverse open-world scenarios following human instructions. However, current studies suffer from the problem of lacking reasoning-based large-scale affordance…

Autonomous navigation in extreme mountainous terrains poses challenges due to the presence of mobility-stressing elements and undulating surfaces, making it particularly difficult compared to conventional off-road driving scenarios. In such…

Grounding 3D object affordance is a task that locates objects in 3D space where they can be manipulated, which links perception and action for embodied intelligence. For example, for an intelligent robot, it is necessary to accurately…

Dexterous robotic hands are appealing for their agility and human-like morphology, yet their high degree of freedom makes learning to manipulate challenging. We introduce an approach for learning dexterous grasping. Our key idea is to embed…

Consider a group of autonomous mobile computational entities called robots. The robots move in the Euclidean plane and operate according to synchronous $Look$-$Compute$-$Move$ cycles. The computational capabilities of the robots under the…

Robotics has been a popular field of research in the past few decades, with much success in industrial applications such as manufacturing and logistics. This success is led by clearly defined use cases and controlled operating environments.…

This article presents an overview of robot learning and adaptive control applications that can benefit from a joint use of Riemannian geometry and probabilistic representations. The roles of Riemannian manifolds, geodesics and parallel…

Reasoning about object handover configurations allows an assistive agent to estimate the appropriateness of handover for a receiver with different arm mobility capacities. While there are existing approaches for estimating the effectiveness…

Learning to manipulate 3D objects in an interactive environment has been a challenging problem in Reinforcement Learning (RL). In particular, it is hard to train a policy that can generalize over objects with different semantic categories,…

This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…

Robotic manipulation faces critical challenges in understanding spatial affordances--the "where" and "how" of object interactions--essential for complex manipulation tasks like wiping a board or stacking objects. Existing methods, including…

This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…

Manipulation is a key capability in domestic service robots, as can be seen in the rulebooks of last Robocup@Home editions. Currently, object recognition is performed based mostly on visual information. Some robots use also 3D information…

Robots can use Visual Imitation Learning (VIL) to learn manipulation tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data.…

Inferring affordable (i.e., graspable) parts of arbitrary objects based on human specifications is essential for robots advancing toward open-vocabulary manipulation. Current grasp planners, however, are hindered by limited vision-language…

When your robot grasps an object using dexterous hands or grippers, it should understand the Task-Oriented Affordances of the Object(TOAO), as different tasks often require attention to specific parts of the object. To address this…

We present a viewpoint-based non-linear Model Predictive Control (MPC) for evacuation guiding robots. Specifically, the proposed MPC algorithm enables evacuation guiding robots to track and guide cooperative human targets in emergency…