相关论文: Learning Keypoints from Synthetic Data for Robotic…

Automatically detecting graspable regions from a single depth image is a key ingredient in cloth manipulation. The large variability of cloth deformations has motivated most of the current approaches to focus on identifying specific…

Convolutional Neural Networks (CNNs) have become the state-of-the-art in various computer vision tasks, but they are still premature for most sensor data, especially in pervasive and wearable computing. A major reason for this is the…

Autonomous fabric manipulation is a challenging task due to complex dynamics and potential self-occlusion during fabric handling. An intuitive method of fabric folding manipulation first involves obtaining a smooth and unfolded fabric…

Robotic manipulation of cloth has applications ranging from fabrics manufacturing to handling blankets and laundry. Cloth manipulation is challenging for robots largely due to their high degrees of freedom, complex dynamics, and severe…

Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution…

The ability to segment unknown objects in depth images has potential to enhance robot skills in grasping and object tracking. Recent computer vision research has demonstrated that Mask R-CNN can be trained to segment specific categories of…

Folding garments reliably and efficiently is a long standing challenge in robotic manipulation due to the complex dynamics and high dimensional configuration space of garments. An intuitive approach is to initially manipulate the garment to…

In the process of intelligently segmenting foods in images using deep neural networks for diet management, data collection and labeling for network training are very important but labor-intensive tasks. In order to solve the difficulties of…

An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design for demonstrating cloth folding to robots. Users choose pick…

Prior work has shown Convolutional Neural Networks (CNNs) trained on surrogate Computer Aided Design (CAD) models are able to detect and classify real-world artefacts from photographs. The applications of which support twinning of digital…

Contrastive learning (CL), a self-supervised learning approach, can effectively learn visual representations from unlabeled data. Given the CL training data, generative models can be trained to generate synthetic data to supplement the real…

Detection of objects in cluttered indoor environments is one of the key enabling functionalities for service robots. The best performing object detection approaches in computer vision exploit deep Convolutional Neural Networks (CNN) to…

When performing cloth-related tasks, such as garment hanging, it is often important to identify and grasp certain structural regions -- a shirt's collar as opposed to its sleeve, for instance. However, due to cloth deformability, these…

We propose a novel learned keypoint detection method to increase the number of correct matches for the task of non-rigid image correspondence. By leveraging true correspondences acquired by matching annotated image pairs with a specified…

Robotic manipulation of cloth remains challenging for robotics due to the complex dynamics of the cloth, lack of a low-dimensional state representation, and self-occlusions. In contrast to previous model-based approaches that learn a…

This paper presents a new technique for learning category-level manipulation from raw RGB-D videos of task demonstrations, with no manual labels or annotations. Category-level learning aims to acquire skills that can be generalized to new…

Robotic cloth manipulation suffers from a lack of standardized benchmarks and shared datasets for evaluating and comparing different approaches. To address this, we created a benchmark and organized the ICRA 2024 Cloth Competition, a unique…

We present a novel approach for robust manipulation of high-DOF deformable objects such as cloth. Our approach uses a random forest-based controller that maps the observed visual features of the cloth to an optimal control action of the…

Robotic cloth manipulation faces challenges due to the fabric's complex dynamics and the high dimensionality of configuration spaces. Previous methods have largely focused on isolated smoothing or folding tasks and overly reliant on…

Humans can accurately determine whether the object in hand has slipped or not by visual and tactile perception. However, it is still a challenge for robots to detect in-hand object slip through visuo-tactile fusion. To address this issue, a…