相关论文: Mechanical Search on Shelves using a Novel "Blucti…

The growing presence of service robots in human-centric environments, such as warehouses, demands seamless and intuitive human-robot collaboration. In this paper, we propose a collaborative shelf-picking framework that combines multimodal…

Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…

In today competitive business environment, efficient logistics are essential, especially in industries where timely delivery matters. This research aims to improve warehouse picking cycle time through simulation-based analysis, using a…

The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…

We present the "Busboy Problem": automating an efficient decluttering of cups, bowls, and silverware from a planar surface. As grasping and transporting individual items is highly inefficient, we propose policies to generate grasps for…

We introduce an evolutionary stochastic-local-search (SLS) algorithm for addressing a generalized version of the so-called 1/V/D/R cutting-stock problem. Cutting-stock problems are encountered often in industrial environments and the…

Current object detection frameworks mainly rely on bounding box regression to localize objects. Despite the remarkable progress in recent years, the precision of bounding box regression remains unsatisfactory, hence limiting performance in…

Robust grasping is a major, and still unsolved, problem in robotics. Information about the 3D shape of an object can be obtained either from prior knowledge (e.g., accurate models of known objects or approximate models of familiar objects)…

Finding similar data in high-dimensional spaces is one of the important tasks in multimedia applications. Approaches introduced to find exact searching techniques often use tree-based index structures which are known to suffer from the…

Contact-rich manipulation is difficult for robots to execute and requires accurate perception of the environment. In some scenarios, vision is occluded. The robot can then no longer obtain real-time scene state information through visual…

Bin picking systems in factory automation usually face robustness issues caused by sparse and noisy 3D data of metallic objects. Utilizing multiple views, especially with a one-shot 3D sensor and "sensor on hand" configuration is getting…

Many indoor workspaces are quasi-static: global layout is stable but local semantics change continually, producing repetitive geometry, dynamic clutter, and perceptual noise that defeat vision-based localization. We present ShelfAware, a…

An "elephant in the room" for most current object detection and localization methods is the lack of explicit modelling of partial visibility due to occlusion by other objects or truncation by the image boundary. Based on a sliding window…

This paper proposes a new framework for providing approximation guarantees of local search algorithms. Local search is a basic algorithm design technique and is widely used for various combinatorial optimization problems. To analyze local…

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…

We consider the problem of Active Search, where a maximum of relevant objects - ideally all relevant objects - should be retrieved with the minimum effort or minimum time. Typically, there are two main challenges to face when tackling this…

Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide mobile grasping assistance for ADLs. The system is…

This study proposes a novel approach based on reinforcement learning (RL) to enhance the sorting efficiency of scrap metal using delta robots and a Pick-and-Place (PaP) process, widely used in the industry. We use three classical model-free…

With the increased availability of 3D data, the need for solutions processing those also increased rapidly. However, adding dimension to already reliably accurate 2D approaches leads to immense memory consumption and higher computational…

Recently dictionary screening has been proposed as an effective way to improve the computational efficiency of solving the lasso problem, which is one of the most commonly used method for learning sparse representations. To address today's…