相关论文: Semantic State Estimation in Cloth Manipulation Ta…

Sequential pulling policies to flatten and smooth fabrics have applications from surgery to manufacturing to home tasks such as bed making and folding clothes. Due to the complexity of fabric states and dynamics, we apply deep imitation…

Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…

Rearranging and manipulating deformable objects such as cables, fabrics, and bags is a long-standing challenge in robotic manipulation. The complex dynamics and high-dimensional configuration spaces of deformables, compared to rigid…

We present a virtual reality (VR) framework to automate the data collection process in cloth folding tasks. The framework uses skeleton representations to help the user define the folding plans for different classes of garments, allowing…

Semantic segmentation is a challenging task since it requires excessively more low-level spatial information of the image compared to other computer vision problems. The accuracy of pixel-level classification can be affected by many…

The analysis of human movements has been extensively studied due to its wide variety of practical applications, such as human-robot interaction, human learning applications, or clinical diagnosis. Nevertheless, the state-of-the-art still…

Semantic segmentation is the problem of assigning a class label to every pixel in an image, and is an important component of an autonomous vehicle vision stack for facilitating scene understanding and object detection. However, many of the…

The semantic segmentation (SS) task aims to create a dense classification by labeling at the pixel level each object present on images. Convolutional neural network (CNN) approaches have been widely used, and exhibited the best results in…

Building machines that can understand text like humans is an AI-complete problem. A great deal of research has already gone into this, with astounding results, allowing everyday people to discuss with their telephones, or have their reading…

Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…

In increasingly digitalized and metered distribution networks, state estimation is generally recognized as a key enabler of advanced network management functionalities. However, despite decades of research, the real-life adoption of state…

Adapting robot programmes to changes in the environment is a well-known industry problem, and it is the reason why many tedious tasks are not automated in small and medium-sized enterprises (SMEs). A semantic world model of a robot's…

Image manipulation can be considered a special case of image generation where the image to be produced is a modification of an existing image. Image generation and manipulation have been, for the most part, tasks that operate on raw pixels.…

Assigning meaning to parts of image data is the goal of semantic image segmentation. Machine learning methods, specifically supervised learning is commonly used in a variety of tasks formulated as semantic segmentation. One of the major…

In order to perform autonomous sequential manipulation tasks, perception in cluttered scenes remains a critical challenge for robots. In this paper, we propose a probabilistic approach for robust sequential scene estimation and manipulation…

The ability to recognize objects is an essential skill for a robotic system acting in human-populated environments. Despite decades of effort from the robotic and vision research communities, robots are still missing good visual perceptual…

We aim to solve the problem of manipulating deformable objects, particularly elastic bands, in real-world scenarios. However, deformable object manipulation (DOM) requires a policy that works on a large state space due to the unlimited…

Models based on deep convolutional neural networks (CNN) have significantly improved the performance of semantic segmentation. However, learning these models requires a large amount of training images with pixel-level labels, which are very…

Deformable Object Manipulation (DOM) is an important field of research as it contributes to practical tasks such as automatic cloth handling, cable routing, surgical operation, etc. Perception is considered one of the major challenges in…

We present a self-supervised method to learn dynamic 3D deformations of garments worn by parametric human bodies. State-of-the-art data-driven approaches to model 3D garment deformations are trained using supervised strategies that require…