相关论文: RoboChop: Autonomous Framework for Fruit and Veget…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…
Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…
Due to labor shortage and rising labor cost for the apple industry, there is an urgent need for the development of robotic systems to efficiently and autonomously harvest apples. In this paper, we present a system overview and algorithm…
This paper presents a novel framework for simultaneously implementing localization and segmentation, which are two of the most important vision-based tasks for robotics. While the goals and techniques used for them were considered to be…
Polyp segmentation is a crucial step towards computer-aided diagnosis of colorectal cancer. However, most of the polyp segmentation methods require pixel-wise annotated datasets. Annotated datasets are tedious and time-consuming to produce,…
Robots-based smart pharmacies are essential for modern healthcare systems, enabling efficient drug delivery. However, a critical challenge exists in the robotic handling of drugs with varying shapes and overlapping positions, which previous…
Recognizing and generating object-state compositions has been a challenging task, especially when generalizing to unseen compositions. In this paper, we study the task of cutting objects in different styles and the resulting object state…
Autonomous harvesting in the open presents a complex manipulation problem. In most scenarios, an autonomous system has to deal with significant occlusion and require interaction in the presence of large structural uncertainties (every plant…
In this paper, we present a computer vision-based approach to measure the sizes and growth rates of apple fruitlets. Measuring the growth rates of apple fruitlets is important because it allows apple growers to determine when to apply…
Decentralized Collaborative Simultaneous Localization And Mapping (C-SLAM) techniques often struggle to identify map overlaps due to significant viewpoint variations among robots. Motivated by recent advancements in 3D foundation models,…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Expensive sensors and inefficient algorithmic pipelines significantly affect the overall cost of autonomous machines. However, affordable robotic solutions are essential to practical usage, and their financial impact constitutes a…
This paper introduces a pioneering experimental study on the automated packing of a catering package using a two-fingered gripper affixed to a 3-degree-of-freedom Delta parallel robot. A distinctive contribution lies in the application of a…
Harvesting is a critical task in the tree fruit industry, demanding extensive manual labor and substantial costs, and exposing workers to potential hazards. Recent advances in automated harvesting offer a promising solution by enabling…
The advent of foundation models signals a new era in artificial intelligence. The Segment Anything Model (SAM) is the first foundation model for image segmentation. In this study, we evaluate SAM's ability to segment features from eye…
We consider the task of semi-supervised video object segmentation (VOS). Our approach mitigates shortcomings in previous VOS work by addressing detail preservation and temporal consistency using visual warping. In contrast to prior work…
We propose a novel hybrid cable-based robot with manipulator and camera for high-accuracy, medium-throughput plant monitoring in a vertical hydroponic farm and, as an example application, demonstrate non-destructive plant mass estimation.…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Reliable object grasping is a crucial capability for autonomous robots. However, many existing grasping approaches focus on general clutter removal without explicitly modeling objects and thus only relying on the visible local geometry. We…