相关论文: PourIt!: Weakly-supervised Liquid Perception from …

Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…

Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reason is the lack of a large and uniform dataset for teaching…

We propose a deep visuo-tactile model for realtime estimation of the liquid inside a deformable container in a proprioceptive way.We fuse two sensory modalities, i.e., the raw visual inputs from the RGB camera and the tactile cues from our…

To accurately pour drinks into various containers is an essential skill for service robots. However, drink pouring is a dynamic process and difficult to model. Traditional deep imitation learning techniques for implementing autonomous…

Robot manipulation critically depends on perception that preserves the action-relevant aspects of a scene. Yet most robot learning pipelines are built upon visual encoders pre-trained for static recognition or vision-language alignment,…

Over the past decades, we have witnessed a rapid emergence of soft and reconfigurable robots thanks to their capability to interact safely with humans and adapt to complex environments. However, their softness makes accurate control very…

This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…

Visual perception tasks often require vast amounts of labelled data, including 3D poses and image space segmentation masks. The process of creating such training data sets can prove difficult or time-intensive to scale up to efficacy for…

This work explores the use of computer vision for image segmentation and classification of medical fluid samples in transparent containers (for example, tubes, syringes, infusion bags). Handling fluids such as infusion fluids, blood, and…

Recent advances in AI and robotics have claimed many incredible results with deep learning, yet no work to date has applied deep learning to the problem of liquid perception and reasoning. In this paper, we apply fully-convolutional deep…

Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…

Translucency is prevalent in everyday scenes. As such, perception of transparent objects is essential for robots to perform manipulation. Compared with texture-rich or texture-less Lambertian objects, transparency induces significant…

As mobile robot capabilities improve and deployment times increase, tools to analyze the growing volume of data are becoming necessary. Current state-of-the-art logging, playback, and exploration systems are insufficient for practitioners…

Manipulating liquid is widely required for many tasks, especially in cooking. A common way to address this is extruding viscous liquid from a squeeze bottle. In this work, our goal is to create a sauce plating robot, which requires precise…

This paper presents a dataset, called Reeds, for research on robot perception algorithms. The dataset aims to provide demanding benchmark opportunities for algorithms, rather than providing an environment for testing application-specific…

We present FlowIt, a novel architecture for optical flow estimation designed to robustly handle large pixel displacements. At its core, FlowIt leverages a hierarchical transformer architecture that captures extensive global context,…

Vision language models have played a key role in extracting meaningful features for various robotic applications. Among these, Contrastive Language-Image Pretraining (CLIP) is widely used in robotic tasks that require both vision and…

Liquids and granular media are pervasive throughout human environments. Their free-flowing nature causes people to constrain them into containers. We do so with thousands of different types of containers made out of different materials with…

Robot perception under low light or high dynamic range is usually improved downstream - via more robust feature extraction, image enhancement, or closed-loop exposure control. However, all of these approaches are limited by the image…

There is a plenty of research going on in field of robotics. One of the most important task is dynamic estimation of response during motion. One of the main applications of this research topics is the task of pouring, which is performed…