相关论文: Parts-Based Articulated Object Localization in Clu…

We introduce a novel method to teach a robotic agent to interactively explore cluttered yet structured scenes, such as kitchen pantries and grocery shelves, by leveraging the physical plausibility of the scene. We propose a novel learning…

Object Pose Estimation is a crucial component in robotic grasping and augmented reality. Learning based approaches typically require training data from a highly accurate CAD model or labeled training data acquired using a complex setup. We…

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…

This paper addresses the problem of video object segmentation, where the initial object mask is given in the first frame of an input video. We propose a novel spatio-temporal Markov Random Field (MRF) model defined over pixels to handle…

Articulated object recognition -- the task of identifying both the geometry and kinematic joints of objects with movable parts -- is essential for enabling robots to interact with everyday objects such as doors and laptops. However,…

Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

Collaborative mapping of unknown environments can be done faster and more robustly than a single robot. However, a collaborative approach requires a distributed paradigm to be scalable and deal with communication issues. This work presents…

This paper addresses unsupervised discovery and localization of dominant objects from a noisy image collection with multiple object classes. The setting of this problem is fully unsupervised, without even image-level annotations or any…

We address the problem of unsupervised learning of complex articulated object models from 3D range data. We describe an algorithm whose input is a set of meshes corresponding to different configurations of an articulated object. The…

Traditional Scene Understanding problems such as Object Detection and Semantic Segmentation have made breakthroughs in recent years due to the adoption of deep learning. However, the former task is not able to localise objects at a pixel…

This study presents a grasping method for objects with uneven mass distribution by leveraging diffusion models to localize the center of gravity (CoG) on unknown objects. In robotic grasping, CoG deviation often leads to postural…

Articulated objects are common in the real world, yet modeling their structure and motion remains a challenging task for 3D reconstruction methods. In this work, we introduce Part$^{2}$GS, a novel framework for modeling articulated digital…

Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…

We consider robotic pick-and-place of partially visible, novel objects, where goal placements are non-trivial, e.g., tightly packed into a bin. One approach is (a) use object instance segmentation and shape completion to model the objects…

Understanding the 3D motion of articulated objects is essential in robotic scene understanding, mobile manipulation, and motion planning. Prior methods for articulation estimation have primarily focused on controlled settings, assuming…

In this paper we proposed an ordered patch based method using Conditional Random Field (CRF) in order to encode local properties and their spatial relationship in images to address texture classification, face recognition, and scene…

Transparent objects are prevalent across many environments of interest for dexterous robotic manipulation. Such transparent material leads to considerable uncertainty for robot perception and manipulation, and remains an open challenge for…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…