相关论文: Robot Structure Prior Guided Temporal Attention fo…

Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…

Mobile robots, performing long-term manipulation activities in human environments, have to perceive a wide variety of objects possessing very different visual characteristics and need to reliably keep track of these throughout the execution…

In order to engage in complex social interaction, humans learn at a young age to infer what others see and cannot see from a different point-of-view, and learn to predict others' plans and behaviors. These abilities have been mostly lacking…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

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…

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…

To have a robot actively supporting a human during a collaborative task, it is crucial that robots are able to identify the current action in order to predict the next one. Common approaches make use of high-level knowledge, such as object…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

Close human-robot cooperation is a key enabler for new developments in advanced manufacturing and assistive applications. Close cooperation require robots that can predict human actions and intent, and understand human non-verbal cues.…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

Bridging robot action sequences and their natural language captions is an important task to increase explainability of human assisting robots in their recently evolving field. In this paper, we propose a system for generating natural…

We present a method for human pose tracking that is based on learning spatiotemporal relationships among joints. Beyond generating the heatmap of a joint in a given frame, our system also learns to predict the offset of the joint from a…

Applications that interact with the real world such as augmented reality or robot manipulation require a good understanding of the location and pose of the surrounding objects. In this paper, we present a new approach to estimate the 6…

This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…

This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional neural networks for learning locomotion-related tasks. The…

Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…

For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…