相关论文: Active Visuo-Tactile Interactive Robotic Perceptio…

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…

Deploying service robots in our daily life, whether in restaurants, warehouses or hospitals, calls for the need to reason on the interactions happening in dense and dynamic scenes. In this paper, we present and benchmark three new…

Humans can quickly determine the force required to grasp a deformable object to prevent its sliding or excessive deformation through vision and touch, which is still a challenging task for robots. To address this issue, we propose a novel…

Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception…

Accurately estimating the shape of objects in dense clutters makes important contribution to robotic packing, because the optimal object arrangement requires the robot planner to acquire shape information of all existed objects. However,…

Service robots operating in cluttered human environments such as homes, offices, and schools cannot rely on predefined object arrangements and must continuously update their semantic and spatial estimates while dealing with possible…

Deep Learning (DL) has brought significant advances to robotics vision tasks. However, most existing DL methods have a major shortcoming, they rely on a static inference paradigm inherent in traditional computer vision pipelines. On the…

How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…

Picking up transparent objects is still a challenging task for robots. The visual properties of transparent objects such as reflection and refraction make the current grasping methods that rely on camera sensing fail to detect and localise…

We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…

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…

This article illustrates the application of deep learning to robot touch by considering a basic yet fundamental capability: estimating the relative pose of part of an object in contact with a tactile sensor. We begin by surveying deep…

Robotic grasping faces new challenges in human-robot-interaction scenarios. We consider the task that the robot grasps a target object designated by human's language directives. The robot not only needs to locate a target based on…

Robotic manipulation in unstructured environments requires systems that can generalize across diverse tasks while maintaining robust and reliable performance. We introduce {GVF-TAPE}, a closed-loop framework that combines generative visual…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

Vision-based robotic object grasping is typically investigated in the context of isolated objects or unstructured object sets in bin picking scenarios. However, there are several settings, such as construction or warehouse automation, where…

Simultaneous object recognition and pose estimation are two key functionalities for robots to safely interact with humans as well as environments. Although both object recognition and pose estimation use visual input, most state-of-the-art…

Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced…

Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. However, cluttered environments entail that objects often occlude…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…